From 6dad552af79e47ffde1cccdb695db0d40539ad86 Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Mon, 15 Jul 2024 16:58:41 +0200
Subject: [PATCH 1/2] [scenes] Remove warnings

---
 examples/3instruments.scn                  | 24 +++++++++++-----------
 examples/3instruments_collis.scn           |  4 ++--
 examples/AdaptiveBeamController.scn        | 12 ++++++-----
 examples/AdaptiveBeamMapping.scn           |  4 ++--
 examples/SingleBeam.scn                    |  4 ++--
 examples/SingleBeamDeployment.scn          | 10 ++++-----
 examples/SingleBeamDeploymentCollision.scn | 10 ++++-----
 examples/Tool_from_loader.scn              | 12 +++++------
 8 files changed, 41 insertions(+), 39 deletions(-)

diff --git a/examples/3instruments.scn b/examples/3instruments.scn
index e9e438d18..812f6a904 100644
--- a/examples/3instruments.scn
+++ b/examples/3instruments.scn
@@ -2,7 +2,7 @@
 <Node name='root' dt='0.05'  gravity='0 0 0'> 
 
     <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
@@ -22,8 +22,8 @@
 <!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  ------------------------------ -->
 
 	<Node name='topoLines_cath'>
-        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
+        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/>
+        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>
         
         <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/>
     
@@ -33,8 +33,8 @@
 		<MechanicalObject template='Rigid3d' name='dofTopo1' />
 	</Node>
 	<Node name='topoLines_guide'>
-        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
+        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/>
+        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>
 		
         <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>
         
@@ -44,8 +44,8 @@
 		<MechanicalObject template='Rigid3d' name='dofTopo2' />
 	</Node>
 	<Node name='topoLines_coils'>
-        <RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
+        <RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/>
+        <RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>
 		
         <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>
     
@@ -67,13 +67,13 @@
 		/>
 		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 
 
-		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/> 
+		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' printLog='0'/> 
 		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' massDensity='0.00000155'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
 
-		<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/> 
-		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/> 	
+		<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' printLog='0'/> 
+		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/>
 
-		<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/> 
+		<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' printLog='0'/> 
 		<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->	
 
         <BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
@@ -84,7 +84,7 @@
 		<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' />
 
-		<FixedConstraint name='FixedConstraint' indices='0' />
+		<FixedProjectiveConstraint name='FixedConstraint' indices='0' />
         <RestShapeSpringsForceField  points='@IRController.indexFirstNode' stiffness='1e8' angularStiffness='1e8'   />
 
 		<Node name='VisuCatheter' activated='true'>
diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn
index 41955bdd3..4c95329b0 100644
--- a/examples/3instruments_collis.scn
+++ b/examples/3instruments_collis.scn
@@ -9,7 +9,7 @@
 	    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
 	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
 	    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
-	    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+	    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
 	    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
 	    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
 	    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
@@ -101,7 +101,7 @@
 
 		<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>
 
-		<FixedConstraint name="FixedConstraint" indices="0" />
+		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
         <RestShapeSpringsForceField  points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8"   />
 
 		<Node name="Collis" activated="true">
diff --git a/examples/AdaptiveBeamController.scn b/examples/AdaptiveBeamController.scn
index b76cb9fe8..d838fe8cb 100644
--- a/examples/AdaptiveBeamController.scn
+++ b/examples/AdaptiveBeamController.scn
@@ -1,20 +1,22 @@
 <?xml version="1.0"?>
-<Node name="root" gravity="0 -9.81 0" dt="0.01" >
-	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
+	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
 	<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
 	<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
 	<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
 	<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
 	<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+    <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [AdaptiveBeamController,AdaptiveBeamForceFieldAndMass,BeamInterpolation] -->
 
 	<VisualStyle displayFlags="showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields" />
-	
+	<DefaultAnimationLoop />
+    
 	<Node name="AdaptiveBeam1">
 		<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
 		<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1  0.5 0 0 0 0 0 1  1 0 0 0 0 0 1  1.5 0 0 0 0 0 1  2 0 0 0 0 0 1  2.5 0 0 0 0 0 1  3 0 0 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6" /> 
-		<FixedConstraint name="FixedConstraint" indices="0" />
+		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
 		<BeamInterpolation name="BeamInterpolation" radius="0.1"/> 
 		<AdaptiveBeamForceFieldAndMass name="BeamForceField"   computeMass="1" massDensity="50"/> 
 <!--
@@ -33,7 +35,7 @@
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1  1 0 2 0 0 0 1  2 0 2 0 0 0 1  3 0 2 0 0 0 1"/> 
 		<BeamInterpolation name="BeamInterpolation2" radius="0.1" /> 
-		<FixedConstraint name="FixedConstraint" indices="0" />
+		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
 		<AdaptiveBeamController template="Rigid3d" name="m_controller"/>	
 		<AdaptiveBeamForceFieldAndMass name="BeamForceField"  computeMass="1" massDensity="50"/> 
 <!--
diff --git a/examples/AdaptiveBeamMapping.scn b/examples/AdaptiveBeamMapping.scn
index 259555ae3..e28a49a3c 100644
--- a/examples/AdaptiveBeamMapping.scn
+++ b/examples/AdaptiveBeamMapping.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <Node name="root" gravity="0 -9.81 0" dt="0.01" >
  	<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
- 	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+ 	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
  	<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
  	<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
  	<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -17,7 +17,7 @@
 		<BTDLinearSolver verbose="0"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1  1 0 2 0 0 0 1  2 0 2 0 0 0 1  3 0 2 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
-		<FixedConstraint name="FixedConstraint" indices="0" />
+		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
 		<BeamInterpolation name="BeamInterpolation" radius="0.1" /> 
 		<AdaptiveBeamForceFieldAndMass name="BeamForceField"  computeMass="1" massDensity="10"/>
 		<Node name="Collision">
diff --git a/examples/SingleBeam.scn b/examples/SingleBeam.scn
index 8899cf388..545cd60f8 100644
--- a/examples/SingleBeam.scn
+++ b/examples/SingleBeam.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="-3 -6 -3 3 3 3">
  	<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
-	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+	<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
  	<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
  	<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
  	<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -17,7 +17,7 @@
 		<BTDLinearSolver verbose="0"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1  2 0 0 0 0 0 1  4 0 0 0 0 0 1  6 0 0 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
-		<FixedConstraint name="FixedConstraint" indices="0" />
+		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
 		<BeamInterpolation name="BeamInterpolation" radius="0.1" /> 
 		<AdaptiveBeamForceFieldAndMass name="BeamForceField"  computeMass="1" massDensity="10"/>
 	</Node>  
diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn
index f29e61142..41072df62 100644
--- a/examples/SingleBeamDeployment.scn
+++ b/examples/SingleBeamDeployment.scn
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
     <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
     <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
@@ -15,8 +15,8 @@
     <DefaultVisualManagerLoop />
 
     <Node name="EdgeTopology">
-        <RodStraightSection name="StraightSection" youngModulus="20000" radius="1" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="20000" radius="1" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
+        <RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
         
         <WireRestShape template="Rigid3d" name="BeamRestShape" printLog="1" wireMaterials="@StraightSection @SpireSection"/>
         <EdgeSetTopologyContainer name="meshLinesBeam"/>
@@ -33,13 +33,13 @@
                                     p0="0 0 0" drawEdges="1"/>
         <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
 
-        <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" radius="0.9"/>
+        <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
         <AdaptiveBeamForceFieldAndMass name="BeamForceField"  massDensity="0.00000155" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
                                     startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1" 
                                     rotationInstrument="0 0 0" step="0.5" speed="0.5" 
                                     listening="1" controlledInstrument="0"/>
-        <FixedConstraint name="FixedConstraint" indices="0" />
+        <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
         <RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/> 
     </Node>  
     
diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn
index ed3a1b887..4f0e20124 100644
--- a/examples/SingleBeamDeploymentCollision.scn
+++ b/examples/SingleBeamDeploymentCollision.scn
@@ -8,7 +8,7 @@
     <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
     <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
-    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshSTLLoader] -->
     <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
     <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
@@ -32,8 +32,8 @@
 
 
     <Node name="EdgeTopology">
-        <RodStraightSection name="StraightSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
-        <RodSpireSection name="SpireSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
+        <RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
+        <RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
         
         <WireRestShape template="Rigid3d" name="BeamRestShape" wireMaterials="@StraightSection @SpireSection"/>
     
@@ -51,14 +51,14 @@
                                     p0="0 0 0" drawEdges="1"/>
         <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
 
-        <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" radius="0.9"/>
+        <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
         <AdaptiveBeamForceFieldAndMass name="BeamForceField"  massDensity="0.00000155" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
                                     startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1" 
                                     rotationInstrument="0 0 0" step="5" speed="5" 
                                     listening="1" controlledInstrument="0"/>
         <LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
-        <FixedConstraint name="FixedConstraint" indices="0" />
+        <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
         <RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/> 
 
         <Node name="CollisionModel">
diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn
index e76e8fd76..1b09e0984 100644
--- a/examples/Tool_from_loader.scn
+++ b/examples/Tool_from_loader.scn
@@ -13,7 +13,7 @@
         <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->  
         <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
-        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->  
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
         <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->  
         <RequiredPlugin name="BeamAdapter" />
     </Node>
@@ -25,8 +25,8 @@
     <Node name="GuideCatheter">
         <MeshOBJLoader name="loader" filename="mesh/key_tip.obj" />
         
-        <RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" radius="10" massDensity="0.1" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
-        <RodMeshSection name="MeshTipSection" loader="@loader" nbEdgesCollis="300" nbEdgesVisu="300"  radius="10" massDensity="0.1"  youngModulus="1000000" poissonRatio="0.3"/>
+        <RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" radius="0.05" massDensity="0.1" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
+        <RodMeshSection name="MeshTipSection" loader="@loader" nbEdgesCollis="300" nbEdgesVisu="300"  radius="0.05" massDensity="0.1"  youngModulus="1000000" poissonRatio="0.3"/>
         
         <WireRestShape template="Rigid3d" name="GC_RestShape" printLog="false" wireMaterials="@StraightSection @MeshTipSection" />
 
@@ -39,13 +39,13 @@
     <Node name="Instrument">
         <EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" />
         <BTDLinearSolver />
-        <RegularGridTopology name="MeshLines" nx="300" ny="1" nz="1"
+        <RegularGridTopology name="MeshLines" nx="330" ny="1" nz="1"
             xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
             p0="0 0 0" drawEdges="0"/>
                                 
         <MechanicalObject name="Instrument_DOFs" template="Rigid3d" /> 
         
-        <WireBeamInterpolation name="Interpol_GCatheter" WireRestShape="@../GuideCatheter/GC_RestShape" radius="0.05" printLog="0"/> 
+        <WireBeamInterpolation name="Interpol_GCatheter" WireRestShape="@../GuideCatheter/GC_RestShape" printLog="0"/> 
         <AdaptiveBeamForceFieldAndMass name="FF_GCatheter" interpolation="@Interpol_GCatheter" massDensity="0.00000155"/>
 
         <InterventionalRadiologyController name="IRController" template="Rigid3d" listening="true" controlledInstrument="0" 
@@ -55,7 +55,7 @@
             mainDirection="1 0 0"
         />
         
-        <FixedConstraint name="FixedConstraint" indices="0" />
+        <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
         <RestShapeSpringsForceField  points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />
 
         <Node name='VisuGuideCatheter'>

From c2cf70166816ecb0d83d76fe9ddf2cf9e8bc2443 Mon Sep 17 00:00:00 2001
From: epernod <erik.pernod@gmail.com>
Date: Mon, 15 Jul 2024 17:28:06 +0200
Subject: [PATCH 2/2] [scenes] Fix warning in python scenes

---
 .../python3/Cochlear-Implant-Insertion/Scene_Cochlea.py    | 2 +-
 examples/python3/SingleBeamDeployment.py                   | 7 +++----
 examples/python3/SingleBeamDeploymentCollision.py          | 7 +++----
 3 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
index 146416c22..51e3c07ee 100644
--- a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
+++ b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
@@ -56,7 +56,7 @@ def createScene(rootNode):
 
         InstrumentCombined.addObject('MechanicalObject', template="Rigid3d", name="DOFs" )
         InstrumentCombined.addObject('InterventionalRadiologyController', template="Rigid3d", name="m_ircontroller", printLog=False, xtip="0.1",speed ='4',   step="0.1", rotationInstrument="0", controlledInstrument="0", startingPos="@../RefStartingPos/ReferencePos.position", instruments="InterpolCatheter")
-        InstrumentCombined.addObject('WireBeamInterpolation', name="InterpolCatheter", WireRestShape="@../topoLines_cath/catheterRestShape", radius="3.0", printLog=False)
+        InstrumentCombined.addObject('WireBeamInterpolation', name="InterpolCatheter", WireRestShape="@../topoLines_cath/catheterRestShape", printLog=False)
         InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', name="CatheterForceField", massDensity="0.000005", interpolation="@InterpolCatheter", printLog=False)
         InstrumentCombined.addObject('LinearSolverConstraintCorrection', printLog=False, wire_optimization="true")
         InstrumentCombined.addObject("FixedProjectiveConstraint", indices="0")
diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py
index 46e66d50e..daf321da4 100644
--- a/examples/python3/SingleBeamDeployment.py
+++ b/examples/python3/SingleBeamDeployment.py
@@ -11,12 +11,12 @@ def createScene(rootNode):
 
     topoLines = rootNode.addChild('EdgeTopology')
     topoLines.addObject('RodStraightSection', name='StraightSection', 
-                                 length=980.0, radius=1, 
+                                 length=980.0, radius=0.9, 
                                  nbEdgesCollis=30, nbEdgesVisu=196, 
                                  youngModulus=20000)
 
     topoLines.addObject('RodSpireSection', name='SpireSection', 
-                                 length=20.0, radius=1, 
+                                 length=20.0, radius=0.9, 
                                  nbEdgesCollis=5, nbEdgesVisu=4,
                                  spireDiameter=25, spireHeight=0,
                                  youngModulus=20000)
@@ -38,8 +38,7 @@ def createScene(rootNode):
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
     BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90)
-    BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', 
-                                    radius=0.9, printLog=False)
+    BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
                                     startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True, 
diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py
index 61e039984..79c532aea 100644
--- a/examples/python3/SingleBeamDeploymentCollision.py
+++ b/examples/python3/SingleBeamDeploymentCollision.py
@@ -19,12 +19,12 @@ def createScene(rootNode):
 
     topoLines = rootNode.addChild('EdgeTopology')
     topoLines.addObject('RodStraightSection', name='StraightSection', 
-                                 length=980.0, radius=1, 
+                                 length=980.0, radius=0.9, 
                                  nbEdgesCollis=50, nbEdgesVisu=200, 
                                  youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
 
     topoLines.addObject('RodSpireSection', name='SpireSection', 
-                                 length=20.0, radius=1, 
+                                 length=20.0, radius=0.9, 
                                  nbEdgesCollis=10, nbEdgesVisu=200,
                                  spireDiameter=25, spireHeight=0,
                                  youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
@@ -46,8 +46,7 @@ def createScene(rootNode):
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
     BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90)
-    BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', 
-                                    radius=0.9, printLog=False)
+    BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
                                     startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,