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[Mapping] new component : Visual Beam Mapping #241

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3044218
create mapping combining quad creation and beam mapping
fredroy May 7, 2025
16cdcc1
add thickness parameter
fredroy May 14, 2025
0507d07
fix normals for second layer and add quads to close extremities (usef…
fredroy May 19, 2025
31e5a32
fix length computations and loop index
fredroy Jul 30, 2026
7c2fcf0
add example (using 3instrument_collis.scn)
fredroy Jul 30, 2026
1caab81
AdaptiveBeamVisualMapping: declare non-mechanical in the constructor
fredroy Aug 25, 2026
ea8fed4
fix bwdinit/init shenaningans
fredroy Aug 25, 2026
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3 changes: 3 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -50,6 +50,8 @@ set(HEADER_FILES

${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.h
${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.inl
${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamVisualMapping.h
${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamVisualMapping.inl
${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.h
${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.inl
${BEAMADAPTER_SRC}/component/mapping/BeamProjectionDifferenceMultiMapping.h
Expand Down Expand Up @@ -92,6 +94,7 @@ set(SOURCE_FILES
${BEAMADAPTER_SRC}/component/forcefield/AdaptiveInflatableBeamForceField.cpp

${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.cpp
${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamVisualMapping.cpp
${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.cpp
${BEAMADAPTER_SRC}/component/mapping/BeamProjectionDifferenceMultiMapping.cpp
${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.cpp
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152 changes: 152 additions & 0 deletions examples/3instruments_collis_vmap.scn
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@@ -0,0 +1,152 @@
<?xml version="1.0"?>
<Node name="root" dt="0.05" gravity="0 0 0">
<Node name="Plugins">
<RequiredPlugin pluginName="BeamAdapter"/> <!-- Needed to use components [MultiAdaptiveBeamMapping WireBeamInterpolation WireRestShape] -->
<RequiredPlugin pluginName="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase DefaultPipeline] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin pluginName="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
</Node>
<VisualStyle displayFlags="showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields" />
<DefaultVisualManagerLoop/>

<FreeMotionAnimationLoop />
<LCPConstraintSolver mu="0.1" tolerance="1e-4" maxIt="1000" build_lcp="false" />

<CollisionPipeline depth="6" verbose="1" draw="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="localmindistance" alarmDistance="2" contactDistance="1" angleCone="0.5" coneFactor="0.5" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />

<!-- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) -->

<Node name="topoLines_cath">
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbBeams="40" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->

<EdgeSetTopologyContainer name="meshLinesCath" />
<EdgeSetTopologyModifier name="Modifier" />
<EdgeSetGeometryAlgorithms name="GeomAlgo" template="Rigid3d" />
<MechanicalObject template="Rigid3d" name="dofTopo1" />
</Node>
<Node name="topoLines_guide">
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbBeams="50" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

<EdgeSetTopologyContainer name="meshLinesGuide" />
<EdgeSetTopologyModifier name="Modifier" />
<EdgeSetGeometryAlgorithms name="GeomAlgo" template="Rigid3d" />
<MechanicalObject template="Rigid3d" name="dofTopo2" />
</Node>
<Node name="topoLines_coils">
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

<EdgeSetTopologyContainer name="meshLinesCoils" />
<EdgeSetTopologyModifier name="Modifier" />
<EdgeSetGeometryAlgorithms name="GeomAlgo" template="Rigid3d" />
<MechanicalObject template="Rigid3d" name="dofTopo3" />
</Node>


<Node name="InstrumentCombined">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<BTDLinearSolver subpartSolve="0" verification="0" verbose="0"/>
<RegularGridTopology name="meshLinesCombined"
nx="181" ny="1" nz="1"
xmin="0.0" xmax="1.0"
ymin="0" ymax="0"
zmin="1" zmax="1"
/>
<MechanicalObject template="Rigid3d" name="DOFs" showIndices="0" ry="-90"/>

<WireBeamInterpolation name="InterpolCatheter" WireRestShape="@../topoLines_cath/catheterRestShape"/>
<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" />

<WireBeamInterpolation name="InterpolGuide" WireRestShape="@../topoLines_guide/GuideRestShape"/>
<AdaptiveBeamForceFieldAndMass name="GuideForceField" interpolation="@InterpolGuide"/>

<WireBeamInterpolation name="InterpolCoils" WireRestShape="@../topoLines_coils/CoilRestShape"/>
<AdaptiveBeamForceFieldAndMass name="CoilsForceField" interpolation="@InterpolCoils"/>

<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
timeSteps="4.3 7.5 7.65 7.85 8.05 8.25 8.45 8.7 8.9 9.2 9.4 9.6 9.8 10 10.25 10.4 10.65 10.85 11.05 11.25 11.45 11.7 11.95 12.2 12.4 12.6 12.8 13 13.2 13.4 13.6 13.85 14.05 14.35 14.55 14.75 14.95 15.15 15.35 15.5 15.7 15.85 16.1 16.25 16.4 16.55 16.7 16.85 17 17.2 17.35 17.55 17.7 17.85 17.95 18.1 18.25 18.35 18.5 18.65 18.85 19 19.2 19.35 19.45 19.6 19.75 19.95 20.1 20.25 20.4 20.55 20.7 20.85 21.35 22.35 23.05 23.65 25 25.1 25.2 25.35 25.5 25.65 25.8 29 30.5 31.9 33.85 33.95 34.1 34.2 34.3 34.45 34.55 34.65 34.8 34.95 35.05 35.15 35.3 35.4 35.5 35.6 35.7 35.8 35.95 36.1 36.2 36.3 36.45 36.5 36.65 36.75 36.9 37 37.1 37.2 37.3 37.45 37.55 37.65 37.75 37.85 38 38.1 38.2 38.3 38.45 38.55 38.65 38.8 38.9 39.05 39.15 39.3 39.4 39.55 39.65 39.7 39.85 39.9 40.1 40.2 40.3 40.4 40.55 40.65 40.8 40.9 41.05 41.15 41.3 41.4 41.6 41.7 41.8 41.95 42 42.1 42.2 42.35 42.45 42.6 42.65 42.8 42.95 43.05 43.2 43.3 43.45 43.55 43.65 43.8 43.9 44 44.15 44.25 44.4 44.55 45.5 47.35 47.45 47.55 47.65 47.7 47.8 47.9 48 50.4 52.35 52.45 52.55 52.65 52.75 52.9 53 53.1 53.2 53.3 53.4 54.35 56.05 56.15 56.2 56.3 56.4 56.5 56.6 56.65 56.7 57.95 58.6 59.45 59.55 59.6 59.7 59.8 59.9 59.95 60.05 60.1 60.15 60.25 60.3 60.4 60.5 60.6 60.65 60.75 60.85 60.95 61 61.1 61.15 61.2 61.3 61.4 61.5 61.65 61.75 61.85 62 62.15 62.25 62.35 62.45 62.55 62.65 62.75 62.85 62.9 63 63.05 63.15 63.2 63.25 63.35 63.4 63.5 63.6 63.7 63.75 63.85 63.95 64.05 64.2 64.3 64.35 64.45 64.55 64.6 64.7 64.8 64.9 65 65.1 65.2 65.3 65.45 65.55 65.65 65.75 65.8 65.9 72.15 73.6 73.7 73.8 73.85 73.95 74 74.1 74.25 74.35 74.45 74.55 75.4 76.1 76.7 77.65 79.85 82 82.85 84.25 84.35 84.45 84.55 84.65 84.75 84.8 84.9 84.95 85.1 85.2 85.3 85.4 85.5 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.4 86.45 86.55 86.65 86.75 86.8 86.9 87 87.15 87.25 87.3 87.4 87.5 87.6 87.7 87.75 87.85 87.95 88 88.1 88.25 88.35 88.45 88.55 88.65 88.75 88.85 88.95 89.05 89.15 89.25 89.35 89.5 89.6 89.75 89.85 89.95 90.05 90.15 90.75 92.4 92.5 92.6 92.7 94.45 97.25 98.1 99.3 99.4 99.5 99.55 99.65 99.7 99.8 99.85 99.95 100.05 100.15 100.2 100.3 100.35 100.45 100.5 100.55 100.65 100.7 100.8 100.85 100.95 101.05 101.15 101.2 101.25 101.35 101.4 101.5 101.55 101.65 101.7 101.75 101.85 101.9 102 102.05 102.15 102.2 102.3 102.35 102.45 102.5 102.6 102.65 102.7 102.8 102.85 102.95 103.05 103.1 103.2 103.25 103.35 103.4 103.5 103.55 103.65 103.7 103.75 103.85 103.95 104.05 104.1 104.2 104.25 104.3 104.4 104.45 104.55 104.6 104.7 104.75 104.85 104.95 105 105.1 105.15 105.25 105.3 105.4 105.45 105.55 105.6 105.65 105.75 105.85 105.95 106 106.05 106.15 106.2 106.3 106.35 106.45 106.5 106.6 106.65 106.75 106.85 106.9 107 107.05 107.15 107.2 107.3 107.35 107.45 107.5 107.6 107.7 107.75 107.85 107.9 107.95 108.05 108.1 108.2 108.25 108.3 108.4 108.45 108.55 108.65 108.7 108.8 108.85 108.95 109 109.1 109.15 109.25 109.3 109.35 109.45 109.55 109.65 109.7 109.8 109.85 109.9 110 110.05 110.15 110.2 110.3 110.35 110.45 110.55 110.6 110.7 110.75 110.8 110.9 110.95 111.05 111.1 111.2 111.25 111.35 111.45 111.5 111.6 111.65 111.75 111.8 111.9 111.95 112.05 112.1 112.2 112.25 112.35 112.4 112.5 112.55 112.65 112.7 112.75 112.85 112.9 113 113.1 113.15 113.2 113.3 113.4 113.45 113.55 113.6 113.65 113.75 113.8 113.9 113.95 114 114.1 114.2 114.25 114.35 114.4 114.5 114.6 114.65 114.75 114.85 114.9 114.95 115.05 115.1 115.2 115.3 115.35 115.4 115.5 115.6 115.65 115.75 115.8 115.9 116 116.05 116.1 116.2 116.3 116.4 116.5 116.55 116.6 116.7 116.8 116.85 116.95 117.05 117.1 117.15 117.25 117.35 117.45 117.5 117.6 117.65 117.75 117.85 117.9 117.95 118.05 118.15 118.25 118.35 118.4 118.5 122.65"
actions="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 9 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 4 4 4 4 4 4 4 4 4 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 8 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
/>
<InterventionalRadiologyController template="Rigid3d" name="IRController" printLog="0" xtip="1 0 0" step="3" rotationInstrument="0 0 0"
controlledInstrument="0" startingPos="0 0 0 0 -0.7071068 0 0.7071068" speed="2" instruments="InterpolCatheter InterpolGuide InterpolCoils" />

<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>

<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />

<Node name="Collis" activated="true">
<EdgeSetTopologyContainer name="collisEdgeSet" />
<EdgeSetTopologyModifier name="colliseEdgeModifier" />
<MechanicalObject name="CollisionDOFs"/>
<MultiAdaptiveBeamMapping name="collisMap" controller="../IRController" useCurvAbs="1" printLog="0"/>
<LineCollisionModel contactDistance="0.0" group="1"/>
<PointCollisionModel contactDistance="0.0" group="1"/>
</Node>

<Node name="VisuCatheter" activated="true">
<QuadSetTopologyContainer name="ContainerCath" />
<OglModel name="Visual" color="0.7 0.7 0.7" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@ContainerCath.quads"/>
<AdaptiveBeamVisualMapping name="VisuMapCath" quadTopology="@ContainerCath" printLog="0" interpolation="@../InterpolCatheter" input="@../DOFs" output="@Visual" nbPointsOnEachCircle="10" radius="2" />
</Node>

<Node name="VisuGuide" activated="true">
<QuadSetTopologyContainer name="ContainerGuide" />
<OglModel name="Visual" color="0.2 0.2 0.8" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@ContainerGuide.quads"/>
<AdaptiveBeamVisualMapping name="visuMapGuide" quadTopology="@ContainerGuide" printLog="0" interpolation="@../InterpolGuide" input="@../DOFs" output="@Visual" nbPointsOnEachCircle="10" radius="1" />
</Node>

<Node name="VisuCoils" activated="true">
<QuadSetTopologyContainer name="ContainerCoils" />
<OglModel name="Visual" color="0.2 0.8 0.2" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@ContainerCoils.quads"/>
<AdaptiveBeamVisualMapping name="visuMapCoils" quadTopology="@ContainerCoils" printLog="0" interpolation="@../InterpolCoils" input="@../DOFs" output="@Visual" nbPointsOnEachCircle="10" radius="0.3" />
</Node>
</Node>

<Node name="VesselsPhantom">
<MeshOBJLoader name="meshLoader" filename="mesh/phantom.obj" triangulate="true" flipNormals="1" scale="3" rotation="0 90 0"/>

<Node name="Collision">
<MeshTopology position="@../meshLoader.position" triangles="@meshLoader.triangles"/>
<MechanicalObject name="DOFs1"/>
<TriangleCollisionModel simulated="0" moving="0"/>
<LineCollisionModel simulated="0" moving="0"/>
<PointCollisionModel simulated="0" moving="0"/>
</Node>

<Node name="Visual">
<OglModel name="Visual" src="@../meshLoader" color="1 0 0 0.3" />
</Node>

</Node>

</Node>
1 change: 0 additions & 1 deletion src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Expand Up @@ -234,7 +234,6 @@ void InterventionalRadiologyController<DataTypes>::init()

m_idInstrumentCurvAbsTable.push_back(listTool);
}


type::vector<int> listInit;
for(unsigned int i=0; i<numberOfInstruments; i++)
Expand Down
13 changes: 10 additions & 3 deletions src/BeamAdapter/component/engine/WireRestShape.inl
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Expand Up @@ -83,9 +83,11 @@ void WireRestShape<DataTypes>::init()
}
else
{
msg_error() << "Cannot find topology container. Please specify the link to the topology or insert one in the same node.";
this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
return;
// force print this message (an important message which is not a warning)
const auto printLogValue = f_printLog.getValue();
f_printLog.setValue(true);
msg_info() << "A topology container has not been set (or included in the same node). This will throw an error only if it is intended to be used with Edge2QuadTopologyContainer further in your scene.";
f_printLog.setValue(printLogValue);
}

if (l_sectionMaterials.empty())
Expand Down Expand Up @@ -142,6 +144,11 @@ void WireRestShape<DataTypes>::initLengths()
template <class DataTypes>
bool WireRestShape<DataTypes>::initTopology()
{
if(!l_topology)
{
return false;
}

/// fill topology :
l_topology->clear();
l_topology->cleanup();
Expand Down
21 changes: 21 additions & 0 deletions src/BeamAdapter/component/mapping/AdaptiveBeamVisualMapping.cpp
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#define BEAMADAPTER_COMPONENT_MAPPING_BEAM2QUADMAPPING_CPP

#include <BeamAdapter/component/mapping/AdaptiveBeamVisualMapping.inl>


#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/ObjectFactory.h>

namespace beamadapter
{

void registerAdaptiveBeamVisualMapping(sofa::core::ObjectFactory* factory)
{
factory->registerObjects(core::ObjectRegistrationData("Special mapping where quads are created from beams.")
.add< AdaptiveBeamVisualMapping<sofa::defaulttype::Rigid3Types> >());
}

template class SOFA_BEAMADAPTER_API AdaptiveBeamVisualMapping<sofa::defaulttype::Rigid3Types>;

} // namespace beamadapter
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