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[InterventionalRadiologyController] fix when giving 0 as index for fixFirstNodesWithUntil #219

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[InterventionalRadiologyController] fix when giving 0 as index for fixFirstNodesWithUntil #219

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f8a0aad
fix when giving 0 as index for fixFirstNodesWithUntil
fredroy Mar 19, 2026
70ac660
Update src/BeamAdapter/component/controller/InterventionalRadiologyCo…
bakpaul Mar 26, 2026
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11 changes: 9 additions & 2 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -1121,14 +1121,21 @@ void InterventionalRadiologyController<DataTypes>::fillInstrumentCurvAbsTable(co
template <class DataTypes>
void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
{
l_fixedConstraint->clearConstraints();

if (firstSimulatedNode == 0)
{
msg_warning() << "An invalid value of firstSimulatedNode equal to 0 has been given to fixFirstNodesWithUntil() method.";
d_indexFirstNode = 0;
return;
}

WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::position);
WriteAccessor<Data<VecCoord> > xrestMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::restPosition);
WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);

// set the position to startingPos for all the nodes that are not simulated
const auto& startPos = d_startingPos.getValue();
// and add a fixedConstraint
l_fixedConstraint->clearConstraints();
for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
{
xMstate[i] = startPos;
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