From cb535419d72a5994d59a23f6d0a67b74842ca3b7 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Mon, 9 Feb 2026 14:57:21 +0100 Subject: [PATCH 01/11] Add the new component files to the CMakeLists of InfinyToolkit. --- CMakeLists.txt | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index a121e6e..0c0d216 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -58,6 +58,13 @@ set(HEADER_FILES ${INFINYTOOLKIT_SRC_DIR}/MeshTools/GridBarycentersPositions.h ${INFINYTOOLKIT_SRC_DIR}/BruteForceFeedback.h + + ## Replay motion controller + ${INFINYTOOLKIT_SRC_DIR}/MotionReplayController/MotionReplayController.h + ${INFINYTOOLKIT_SRC_DIR}/MotionReplayController/MotionReplayController.inl + + + ) set(SOURCE_FILES @@ -91,6 +98,11 @@ set(SOURCE_FILES ${INFINYTOOLKIT_SRC_DIR}/MeshTools/GridBarycentersPositions.cpp ${INFINYTOOLKIT_SRC_DIR}/BruteForceFeedback.cpp + + ## Replay motion controller + ${INFINYTOOLKIT_SRC_DIR}/MotionReplayController/MotionReplayController.cpp + + ) # Add component for carving using refinement mesh From bdb098c915b51ba36fb0f90b550879196057af65 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Mon, 9 Feb 2026 19:39:54 +0100 Subject: [PATCH 02/11] Add all the files for the motion controller. --- .../MotionReplayController.cpp | 45 +++++ .../MotionReplayController.h | 68 +++++++ .../MotionReplayController.inl | 170 ++++++++++++++++++ 3 files changed, 283 insertions(+) create mode 100644 src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp create mode 100644 src/InfinyToolkit/MotionReplayController/MotionReplayController.h create mode 100644 src/InfinyToolkit/MotionReplayController/MotionReplayController.inl diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp b/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp new file mode 100644 index 0000000..664b96d --- /dev/null +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp @@ -0,0 +1,45 @@ +/***************************************************************************** + * - Copyright (C) - 2020 - InfinyTech3D - * + * * + * This file is part of the InfinyToolkit plugin for the SOFA framework * + * * + * Commercial License Usage: * + * Licensees holding valid commercial license from InfinyTech3D may use this * + * file in accordance with the commercial license agreement provided with * + * the Software or, alternatively, in accordance with the terms contained in * + * a written agreement between you and InfinyTech3D. For further information * + * on the licensing terms and conditions, contact: contact@infinytech3d.com * + * * + * GNU General Public License Usage: * + * Alternatively, this file may be used under the terms of the GNU General * + * Public License version 3. The licenses are as published by the Free * + * Software Foundation and appearing in the file LICENSE.GPL3 included in * + * the packaging of this file. Please review the following information to * + * ensure the GNU General Public License requirements will be met: * + * https://www.gnu.org/licenses/gpl-3.0.html. * + * * + * Authors: see Authors.txt * + * Further information: https://infinytech3d.com * + ****************************************************************************/ + +#define SOFA_COMPONENT_MOTIONREPLAYCONTROLLER_CPP + +#include +#include + +namespace sofa::infinytoolkit +{ + +using namespace sofa::defaulttype; + +void registerMotionReplayController(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects( + sofa::core::ObjectRegistrationData("Motion replay controller to induce the heart motion.") + .add< MotionReplayController >() + ); +} + +template class SOFA_INFINYTOOLKIT_API MotionReplayController; + +} // namespace sofa::infinytoolkit diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h new file mode 100644 index 0000000..4bcd7e0 --- /dev/null +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h @@ -0,0 +1,68 @@ +/***************************************************************************** + * - Copyright (C) - 2020 - InfinyTech3D - * + * * + * This file is part of the InfinyToolkit plugin for the SOFA framework * + * * + * Commercial License Usage: * + * Licensees holding valid commercial license from InfinyTech3D may use this * + * file in accordance with the commercial license agreement provided with * + * the Software or, alternatively, in accordance with the terms contained in * + * a written agreement between you and InfinyTech3D. For further information * + * on the licensing terms and conditions, contact: contact@infinytech3d.com * + * * + * GNU General Public License Usage: * + * Alternatively, this file may be used under the terms of the GNU General * + * Public License version 3. The licenses are as published by the Free * + * Software Foundation and appearing in the file LICENSE.GPL3 included in * + * the packaging of this file. Please review the following information to * + * ensure the GNU General Public License requirements will be met: * + * https://www.gnu.org/licenses/gpl-3.0.html. * + * * + * Authors: see Authors.txt * + * Further information: https://infinytech3d.com * + ****************************************************************************/ +#pragma once + +#include + +#include +#include +#include +#include + +#include +#include + +namespace sofa::infinytoolkit +{ + + +template +class MotionReplayController + : public sofa::component::controller::MechanicalStateController +{ +public: + SOFA_CLASS( + SOFA_TEMPLATE(MotionReplayController, DataTypes), + SOFA_TEMPLATE(sofa::component::controller::MechanicalStateController, DataTypes) + ); + + //using Inherit = sofa::component::controller::MechanicalStateController; + + MotionReplayController(); + ~MotionReplayController() override = default; + + void init() override; + void handleEvent(sofa::core::objectmodel::Event* event) override; + +private: + sofa::core::objectmodel::Data d_motionFile; + sofa::core::objectmodel::Data d_dt; + + //std::vector> frames; + size_t currentIndex; + + void loadMotion(); +}; + +} // namespace sofa::infinytoolkit diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl new file mode 100644 index 0000000..43d763c --- /dev/null +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl @@ -0,0 +1,170 @@ +/***************************************************************************** + * - Copyright (C) - 2020 - InfinyTech3D - * + * * + * This file is part of the InfinyToolkit plugin for the SOFA framework * + * * + * Commercial License Usage: * + * Licensees holding valid commercial license from InfinyTech3D may use this * + * file in accordance with the commercial license agreement provided with * + * the Software or, alternatively, in accordance with the terms contained in * + * a written agreement between you and InfinyTech3D. For further information * + * on the licensing terms and conditions, contact: contact@infinytech3d.com * + * * + * GNU General Public License Usage: * + * Alternatively, this file may be used under the terms of the GNU General * + * Public License version 3. The licenses are as published by the Free * + * Software Foundation and appearing in the file LICENSE.GPL3 included in * + * the packaging of this file. Please review the following information to * + * ensure the GNU General Public License requirements will be met: * + * https://www.gnu.org/licenses/gpl-3.0.html. * + * * + * Authors: see Authors.txt * + * Further information: https://infinytech3d.com * + ****************************************************************************/ +#pragma once + +#include + +#include +#include +#include + +#include +#include +#include + +namespace sofa::infinytoolkit +{ + + +template +MotionReplayController::MotionReplayController() + : d_motionFile(initData(&d_motionFile, "", "motionFile", "Path to CSV motion file, where each row contains one frame.")) + , d_dt(initData(&d_dt, 0.02, "dt", "Time step of the SOFA scene")) + , currentIndex(0) + { + } + + +template +void MotionReplayController::init() + { + //this->Inherit::init(); + //loadMotion(); + } + + +template +void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) + { + // if (!sofa::simulation::AnimateBeginEvent::checkEventType(event)) + // return; + + // if (frames.empty()) + // return; + + // auto* mstate = this->getMechanicalState(); + // if (!mstate) + // { + // msg_error() << "[MotionReplay] MechanicalState is null!"; + // return; + // } + + // // Always loop like Python version + // if (currentIndex >= frames.size()) + // currentIndex = 0; + + // auto positions = mstate->writePositions(); + + // if (positions.size() != frames[currentIndex].size()) + // { + // msg_error() << "[MotionReplay] Frame size mismatch: " + // << "MO points = " << positions.size() + // << ", frame points = " << frames[currentIndex].size(); + // return; + // } + + // for (size_t i = 0; i < positions.size(); ++i) + // { + // positions[i] = sofa::defaulttype::Vec3Types::Coord( + // static_cast(frames[currentIndex][i][0]), + // static_cast(frames[currentIndex][i][1]), + // static_cast(frames[currentIndex][i][2]) + // ); + // } + + // ++currentIndex; + //} + + //void MotionReplayController::loadMotion() + //{ + // frames.clear(); + // currentIndex = 0; + + // std::string filename = d_motionFile.getValue(); + // + // if (filename.empty()) + // { + // msg_error() << "[MotionReplay] motionFile not specified!"; + // return; + // } + + // std::ifstream file(filename); + // if (!file.is_open()) + // { + // msg_error() << "[MotionReplay] Cannot open file: " << filename; + // return; + // } + + // auto* mstate = this->getMechanicalState(); + // if (!mstate) + // { + // msg_error() << "[MotionReplay] MechanicalState is null!"; + // return; + // } + + // size_t numPoints = mstate->getSize(); + + // std::string line; + // size_t lineNumber = 0; + // while (std::getline(file, line)) + // { + // ++lineNumber; + // std::stringstream ss(line); + // std::string value; + + // std::vector values; + // while (std::getline(ss, value, ',')) + // { + // values.push_back(std::stod(value)); + // } + + // if (values.size() != numPoints * 3) + // { + // msg_error() << "[MotionReplay] Line " << lineNumber + // << ": expected " << numPoints * 3 + // << " values, got " << values.size(); + // frames.clear(); + // return; + // } + + // std::vector frame; + // frame.reserve(numPoints); + + // for (size_t i = 0; i < numPoints; ++i) + // { + // Coord c; + // c[0] = static_cast(values[3 * i + 0]); + // c[1] = static_cast(values[3 * i + 1]); + // c[2] = static_cast(values[3 * i + 2]); + // frame.push_back(c); + // } + + // frames.push_back(std::move(frame)); + // } + + // msg_info() << "[MotionReplay] Loaded " << frames.size() + // << " frames from " << filename; + } + +} // namespace sofa::infinytoolkit From fd6509ec999d0ca34960a02da740f85df89f0afd Mon Sep 17 00:00:00 2001 From: rmolazem Date: Tue, 10 Feb 2026 12:21:35 +0100 Subject: [PATCH 03/11] Uncomment the full definitions of the functions. --- .../MotionReplayController.h | 16 +- .../MotionReplayController.inl | 221 +++++++++--------- 2 files changed, 123 insertions(+), 114 deletions(-) diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h index 4bcd7e0..a89ede4 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h @@ -47,22 +47,30 @@ class MotionReplayController SOFA_TEMPLATE(sofa::component::controller::MechanicalStateController, DataTypes) ); - //using Inherit = sofa::component::controller::MechanicalStateController; + using Inherit = sofa::component::controller::MechanicalStateController; + using Coord = typename DataTypes::Coord; + using VecCoord = typename DataTypes::VecCoord; + using Real = typename DataTypes::Real; MotionReplayController(); ~MotionReplayController() override = default; - void init() override; - void handleEvent(sofa::core::objectmodel::Event* event) override; + void init() override; + void handleEvent(sofa::core::objectmodel::Event* event) override; private: sofa::core::objectmodel::Data d_motionFile; sofa::core::objectmodel::Data d_dt; - //std::vector> frames; + std::vector frames; size_t currentIndex; void loadMotion(); }; +#if !defined(SOFA_COMPONENT_MOTIONREPLAYCONTROLLER_CPP) +extern template class SOFA_INFINYTOOLKIT_API MotionReplayController; +#endif + + } // namespace sofa::infinytoolkit diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl index 43d763c..9971705 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl @@ -49,122 +49,123 @@ MotionReplayController::MotionReplayController() template void MotionReplayController::init() { - //this->Inherit::init(); - //loadMotion(); + this->Inherit::init(); + loadMotion(); } template void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) + { + if (!sofa::simulation::AnimateBeginEvent::checkEventType(event)) + return; + + if (frames.empty()) + return; + + auto* mstate = this->getMechanicalState(); + if (!mstate) + { + msg_error() << "[MotionReplay] MechanicalState is null!"; + return; + } + + // Always loop like Python version + if (currentIndex >= frames.size()) + currentIndex = 0; + + auto positions = mstate->writePositions(); + + if (positions.size() != frames[currentIndex].size()) + { + msg_error() << "[MotionReplay] Frame size mismatch: " + << "MO points = " << positions.size() + << ", frame points = " << frames[currentIndex].size(); + return; + } + + for (size_t i = 0; i < positions.size(); ++i) + { + positions[i] = Coord( + static_cast(frames[currentIndex][i][0]), + static_cast(frames[currentIndex][i][1]), + static_cast(frames[currentIndex][i][2]) + ); + } + + ++currentIndex; + } + +template + void MotionReplayController::loadMotion() { - // if (!sofa::simulation::AnimateBeginEvent::checkEventType(event)) - // return; - - // if (frames.empty()) - // return; - - // auto* mstate = this->getMechanicalState(); - // if (!mstate) - // { - // msg_error() << "[MotionReplay] MechanicalState is null!"; - // return; - // } - - // // Always loop like Python version - // if (currentIndex >= frames.size()) - // currentIndex = 0; - - // auto positions = mstate->writePositions(); - - // if (positions.size() != frames[currentIndex].size()) - // { - // msg_error() << "[MotionReplay] Frame size mismatch: " - // << "MO points = " << positions.size() - // << ", frame points = " << frames[currentIndex].size(); - // return; - // } - - // for (size_t i = 0; i < positions.size(); ++i) - // { - // positions[i] = sofa::defaulttype::Vec3Types::Coord( - // static_cast(frames[currentIndex][i][0]), - // static_cast(frames[currentIndex][i][1]), - // static_cast(frames[currentIndex][i][2]) - // ); - // } - - // ++currentIndex; - //} - - //void MotionReplayController::loadMotion() - //{ - // frames.clear(); - // currentIndex = 0; - - // std::string filename = d_motionFile.getValue(); - // - // if (filename.empty()) - // { - // msg_error() << "[MotionReplay] motionFile not specified!"; - // return; - // } - - // std::ifstream file(filename); - // if (!file.is_open()) - // { - // msg_error() << "[MotionReplay] Cannot open file: " << filename; - // return; - // } - - // auto* mstate = this->getMechanicalState(); - // if (!mstate) - // { - // msg_error() << "[MotionReplay] MechanicalState is null!"; - // return; - // } - - // size_t numPoints = mstate->getSize(); - - // std::string line; - // size_t lineNumber = 0; - // while (std::getline(file, line)) - // { - // ++lineNumber; - // std::stringstream ss(line); - // std::string value; - - // std::vector values; - // while (std::getline(ss, value, ',')) - // { - // values.push_back(std::stod(value)); - // } - - // if (values.size() != numPoints * 3) - // { - // msg_error() << "[MotionReplay] Line " << lineNumber - // << ": expected " << numPoints * 3 - // << " values, got " << values.size(); - // frames.clear(); - // return; - // } - - // std::vector frame; - // frame.reserve(numPoints); - - // for (size_t i = 0; i < numPoints; ++i) - // { - // Coord c; - // c[0] = static_cast(values[3 * i + 0]); - // c[1] = static_cast(values[3 * i + 1]); - // c[2] = static_cast(values[3 * i + 2]); - // frame.push_back(c); - // } - - // frames.push_back(std::move(frame)); - // } - - // msg_info() << "[MotionReplay] Loaded " << frames.size() - // << " frames from " << filename; + frames.clear(); + currentIndex = 0; + + std::string filename = d_motionFile.getValue(); + + if (filename.empty()) + { + msg_error() << "[MotionReplay] motionFile not specified!"; + return; + } + + std::ifstream file(filename); + if (!file.is_open()) + { + msg_error() << "[MotionReplay] Cannot open file: " << filename; + return; + } + + auto* mstate = this->getMechanicalState(); + if (!mstate) + { + msg_error() << "[MotionReplay] MechanicalState is null!"; + return; + } + + size_t numPoints = mstate->getSize(); + + std::string line; + size_t lineNumber = 0; + while (std::getline(file, line)) + { + ++lineNumber; + std::stringstream ss(line); + std::string value; + + std::vector values; + while (std::getline(ss, value, ',')) + { + values.push_back(std::stod(value)); + } + + if (values.size() != numPoints * 3) + { + msg_error() << "[MotionReplay] Line " << lineNumber + << ": expected " << numPoints * 3 + << " values, got " << values.size(); + frames.clear(); + return; + } + + VecCoord frame; + frame.reserve(numPoints); + + for (size_t i = 0; i < numPoints; ++i) + { + Coord c; + c[0] = static_cast(values[3 * i + 0]); + c[1] = static_cast(values[3 * i + 1]); + c[2] = static_cast(values[3 * i + 2]); + frame.push_back(c); + } + + frames.push_back(std::move(frame)); + } + + msg_info() << "[MotionReplay] Loaded " << frames.size() + << " frames from " << filename; } } // namespace sofa::infinytoolkit From 5eafc6fd969f2523915da0f972ba2918036303b7 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Tue, 10 Feb 2026 12:32:10 +0100 Subject: [PATCH 04/11] Add the register function of the motion replay controller to the InfinyToolkit source file. --- src/InfinyToolkit/initInfinyToolkit.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/InfinyToolkit/initInfinyToolkit.cpp b/src/InfinyToolkit/initInfinyToolkit.cpp index c4b3a08..c644052 100644 --- a/src/InfinyToolkit/initInfinyToolkit.cpp +++ b/src/InfinyToolkit/initInfinyToolkit.cpp @@ -58,6 +58,8 @@ extern void registerNeedleTracker(sofa::core::ObjectFactory* factory); extern void registerPliersPositionsMapper(sofa::core::ObjectFactory* factory); extern void registerRotationEngine(sofa::core::ObjectFactory* factory); +// Heart Motion Replayer +extern void registerMotionReplayController(sofa::core::ObjectFactory* factory); From e5de2e614295b2fd5e5131f5a1748f342bd57f48 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Wed, 11 Feb 2026 19:15:08 +0100 Subject: [PATCH 05/11] Simplifying the motion replay controller class by inheriting from Controller class. --- .../MotionReplayController.cpp | 5 +- .../MotionReplayController.h | 41 +++++----- .../MotionReplayController.inl | 74 +++++++++---------- 3 files changed, 58 insertions(+), 62 deletions(-) diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp b/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp index 664b96d..1db3f3e 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.cpp @@ -25,6 +25,8 @@ #define SOFA_COMPONENT_MOTIONREPLAYCONTROLLER_CPP #include + +#include #include namespace sofa::infinytoolkit @@ -36,10 +38,9 @@ void registerMotionReplayController(sofa::core::ObjectFactory* factory) { factory->registerObjects( sofa::core::ObjectRegistrationData("Motion replay controller to induce the heart motion.") - .add< MotionReplayController >() + .add< MotionReplayController >() ); } -template class SOFA_INFINYTOOLKIT_API MotionReplayController; } // namespace sofa::infinytoolkit diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h index a89ede4..aeac6c5 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h @@ -25,7 +25,8 @@ #include -#include +#include +#include #include #include #include @@ -36,41 +37,39 @@ namespace sofa::infinytoolkit { - -template class MotionReplayController - : public sofa::component::controller::MechanicalStateController + : public sofa::component::controller::Controller { public: - SOFA_CLASS( - SOFA_TEMPLATE(MotionReplayController, DataTypes), - SOFA_TEMPLATE(sofa::component::controller::MechanicalStateController, DataTypes) - ); - - using Inherit = sofa::component::controller::MechanicalStateController; - using Coord = typename DataTypes::Coord; - using VecCoord = typename DataTypes::VecCoord; - using Real = typename DataTypes::Real; - + + SOFA_CLASS(MotionReplayController, + sofa::component::controller::Controller); + MotionReplayController(); ~MotionReplayController() override = default; + + using Coord = sofa::type::Vec3d; + using VecCoord = std::vector; + + + void init() override; void handleEvent(sofa::core::objectmodel::Event* event) override; private: - sofa::core::objectmodel::Data d_motionFile; - sofa::core::objectmodel::Data d_dt; + + sofa::core::objectmodel::Data d_motionFile; /// CSV file containing the frames + sofa::core::objectmodel::Data d_dt; /// Simulation time-step + sofa::core::behavior::MechanicalState* mGridState{nullptr}; ///Controlled grid + std::vector frames; - size_t currentIndex; + + size_t currentIndex{0}; void loadMotion(); }; -#if !defined(SOFA_COMPONENT_MOTIONREPLAYCONTROLLER_CPP) -extern template class SOFA_INFINYTOOLKIT_API MotionReplayController; -#endif - } // namespace sofa::infinytoolkit diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl index 9971705..c57d2ff 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl @@ -24,6 +24,9 @@ #pragma once #include +#include +#include + #include #include @@ -36,26 +39,31 @@ namespace sofa::infinytoolkit { - -template -MotionReplayController::MotionReplayController() - : d_motionFile(initData(&d_motionFile, "", "motionFile", "Path to CSV motion file, where each row contains one frame.")) - , d_dt(initData(&d_dt, 0.02, "dt", "Time step of the SOFA scene")) - , currentIndex(0) +MotionReplayController::MotionReplayController() + : d_motionFile(initData(&d_motionFile, "", "motionFile", + "Path to CSV motion file, where each row contains one frame.")) + , d_dt(initData(&d_dt, 0.02, "dt", "Time step of the SOFA scene")) { } - -template -void MotionReplayController::init() +void MotionReplayController::init() + { + + + mGridState = this->getContext()->get>(); + + if (!mGridState) { - this->Inherit::init(); - loadMotion(); + msg_error() << "[MotionReplay] MechanicalState is null!"; + return; + } + + loadMotion(); + } -template -void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) +void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) { if (!sofa::simulation::AnimateBeginEvent::checkEventType(event)) return; @@ -63,18 +71,12 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Eve if (frames.empty()) return; - auto* mstate = this->getMechanicalState(); - if (!mstate) - { - msg_error() << "[MotionReplay] MechanicalState is null!"; - return; - } // Always loop like Python version if (currentIndex >= frames.size()) currentIndex = 0; - auto positions = mstate->writePositions(); + auto positions = mGridState->writePositions(); if (positions.size() != frames[currentIndex].size()) { @@ -87,17 +89,16 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Eve for (size_t i = 0; i < positions.size(); ++i) { positions[i] = Coord( - static_cast(frames[currentIndex][i][0]), - static_cast(frames[currentIndex][i][1]), - static_cast(frames[currentIndex][i][2]) - ); + frames[currentIndex][i][0], + frames[currentIndex][i][1], + frames[currentIndex][i][2]); } ++currentIndex; } -template - void MotionReplayController::loadMotion() + + void MotionReplayController::loadMotion() { frames.clear(); currentIndex = 0; @@ -117,14 +118,7 @@ template return; } - auto* mstate = this->getMechanicalState(); - if (!mstate) - { - msg_error() << "[MotionReplay] MechanicalState is null!"; - return; - } - - size_t numPoints = mstate->getSize(); + size_t numPoints = mGridState->getSize(); std::string line; size_t lineNumber = 0; @@ -150,15 +144,15 @@ template } VecCoord frame; - frame.reserve(numPoints); + frame.reserve(numPoints); // have to be checked for (size_t i = 0; i < numPoints; ++i) { Coord c; - c[0] = static_cast(values[3 * i + 0]); - c[1] = static_cast(values[3 * i + 1]); - c[2] = static_cast(values[3 * i + 2]); - frame.push_back(c); + c[0] = values[3 * i + 0]; + c[1] = values[3 * i + 1]; + c[2] = values[3 * i + 2]; + frame.push_back(c); } frames.push_back(std::move(frame)); @@ -168,4 +162,6 @@ template << " frames from " << filename; } + + } // namespace sofa::infinytoolkit From b23ac0108e8b79512eb963632041719df3d29066 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Thu, 12 Feb 2026 18:41:23 +0100 Subject: [PATCH 06/11] Calling registration function of the motion controller in the registerObjects function. --- src/InfinyToolkit/initInfinyToolkit.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/InfinyToolkit/initInfinyToolkit.cpp b/src/InfinyToolkit/initInfinyToolkit.cpp index c644052..e391fdd 100644 --- a/src/InfinyToolkit/initInfinyToolkit.cpp +++ b/src/InfinyToolkit/initInfinyToolkit.cpp @@ -147,6 +147,9 @@ void registerObjects(sofa::core::ObjectFactory* factory) registerNeedleTracker(factory); registerPliersPositionsMapper(factory); registerRotationEngine(factory); + + // Heart Motion Replayer + registerMotionReplayController(factory); } } // namespace sofa::component From ddb14dab69c6cfa4f8d396458b90acc91dbf7fbc Mon Sep 17 00:00:00 2001 From: rmolazem Date: Thu, 12 Feb 2026 18:46:31 +0100 Subject: [PATCH 07/11] Fixing a small bug in the constructor and enabling f_listening at init. --- .../MotionReplayController.inl | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl index c57d2ff..17946fe 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl @@ -30,6 +30,7 @@ #include #include +#include #include #include @@ -40,7 +41,7 @@ namespace sofa::infinytoolkit { MotionReplayController::MotionReplayController() - : d_motionFile(initData(&d_motionFile, "", "motionFile", + : d_motionFile(initData(&d_motionFile, "motionFile", "Path to CSV motion file, where each row contains one frame.")) , d_dt(initData(&d_dt, 0.02, "dt", "Time step of the SOFA scene")) { @@ -48,9 +49,7 @@ MotionReplayController::MotionReplayController() void MotionReplayController::init() { - - - mGridState = this->getContext()->get>(); + mGridState = this->getContext()->get>(); if (!mGridState) { @@ -58,6 +57,8 @@ void MotionReplayController::init() return; } + this->f_listening.setValue(true); + loadMotion(); } @@ -65,13 +66,13 @@ void MotionReplayController::init() void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) { + if (!sofa::simulation::AnimateBeginEvent::checkEventType(event)) return; if (frames.empty()) return; - // Always loop like Python version if (currentIndex >= frames.size()) currentIndex = 0; @@ -97,21 +98,22 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) ++currentIndex; } - void MotionReplayController::loadMotion() { frames.clear(); currentIndex = 0; std::string filename = d_motionFile.getValue(); - + + if (filename.empty()) { msg_error() << "[MotionReplay] motionFile not specified!"; return; } - std::ifstream file(filename); + std::string fullpath = sofa::helper::system::DataRepository.getFile(filename); + std::ifstream file(fullpath); if (!file.is_open()) { msg_error() << "[MotionReplay] Cannot open file: " << filename; From e7294a69683c5ae941dac5639b189063499f4db1 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 13 Feb 2026 12:11:04 +0100 Subject: [PATCH 08/11] Define the motion file as DataFileName. --- .../MotionReplayController/MotionReplayController.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h index aeac6c5..8ff2db4 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.h +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.h @@ -26,10 +26,12 @@ #include #include + #include #include #include #include +#include #include #include @@ -59,7 +61,7 @@ class MotionReplayController private: - sofa::core::objectmodel::Data d_motionFile; /// CSV file containing the frames + sofa::core::objectmodel::DataFileName d_motionFile; /// CSV file containing the frames sofa::core::objectmodel::Data d_dt; /// Simulation time-step sofa::core::behavior::MechanicalState* mGridState{nullptr}; ///Controlled grid From d7ee08542d64a00ef52d49c25a40e5d4e6acf056 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 13 Feb 2026 12:13:00 +0100 Subject: [PATCH 09/11] Modify the lines according to the change in the header file. --- .../MotionReplayController.inl | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl index 17946fe..a5650f0 100644 --- a/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl +++ b/src/InfinyToolkit/MotionReplayController/MotionReplayController.inl @@ -29,8 +29,8 @@ #include +#include #include -#include #include #include @@ -103,8 +103,7 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) frames.clear(); currentIndex = 0; - std::string filename = d_motionFile.getValue(); - + const std::string filename = d_motionFile.getFullPath(); if (filename.empty()) { @@ -112,12 +111,12 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) return; } - std::string fullpath = sofa::helper::system::DataRepository.getFile(filename); - std::ifstream file(fullpath); + // Open file stream + std::ifstream file(filename); if (!file.is_open()) { - msg_error() << "[MotionReplay] Cannot open file: " << filename; - return; + msg_error() << "[MotionReplay] Cannot open file: " << filename; + return; } size_t numPoints = mGridState->getSize(); @@ -146,7 +145,7 @@ void MotionReplayController::handleEvent(sofa::core::objectmodel::Event* event) } VecCoord frame; - frame.reserve(numPoints); // have to be checked + frame.reserve(numPoints); for (size_t i = 0; i < numPoints; ++i) { From bfe443f577c267d1e754d345d0b307934972507f Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 13 Feb 2026 12:14:15 +0100 Subject: [PATCH 10/11] Add a simple example for MotionReplayController. --- examples/MotionReplayController.scn | 53 +++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 examples/MotionReplayController.scn diff --git a/examples/MotionReplayController.scn b/examples/MotionReplayController.scn new file mode 100644 index 0000000..c2ee3db --- /dev/null +++ b/examples/MotionReplayController.scn @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 075f1bbea7bc0a94189732fd5d174414f18d2342 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 13 Feb 2026 12:15:04 +0100 Subject: [PATCH 11/11] Add the CSV file needed for the example scene. --- examples/grid_states.csv | 150 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 150 insertions(+) create mode 100644 examples/grid_states.csv diff --git a/examples/grid_states.csv b/examples/grid_states.csv new file mode 100644 index 0000000..f038760 --- /dev/null +++ b/examples/grid_states.csv @@ -0,0 +1,150 @@ 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