[Controller] Add MotionReplayController component to load a motion from csv file and apply it to a MechanicalObject

[rmolazem]

This controller inherits from MechanicalStateController, allowing easy access to the mechanical object’s states after loading all frames at initialization from a CSV file.

The class introduces two new functions:

loadMotion() – Loads all frames from the CSV and stores them in a vector.

handleEvent() – Updates the mechanical object’s positions (grids) according to the loaded frames at each animation step.

However, while compiling SOFA (which includes the infiny toolkit), there is a linking issue: It seems it

cannot inherit from MechanicalStateController and the plugin does not compile. I might have missed some steps to properly register this component inside the InfinyToolkit.

P.S. I have updated SOFA from the master branch.

---

[epernod]

I guess the closing is a wrong manipulation?

[rmolazem]

Since the PR was open, and I made some modifications, including changing the base class. I thought it might be cleaner to open a clean PR. Except if you want to follow the history of the changes.
I am going to test the component today with an example scene, then push the final version. I can either re-open this or make a new PR, as you wish.

[epernod]

You can keep the same PR as in any case we only review the change in files which is the final diff between your branch and master: https://github.com/InfinyTech3D/InfinyToolkit/pull/41/changes
And at the end we squash and merge the PR, so after the merge only 1 commit will be visible in the history even if the PR was done with 10 commits

[rmolazem]

I conclude that using the SOFA controller slightly increases the FPS.

I compared Scenario 2 for Asan#2 at three stages:

• When the Judkins is in the middle of the vessel toward the aorta

• When the guidewire is close to the aorta

• When the guidewire is inside the right coronary arteries

--> The approximate FPS values are:

Python controller: 66, 37, 22

SOFA controller: 70, 39, 25

[rmolazem]

Finishing the implementation of the controller depends on #44

[epernod]

The component is independent from the breathing as the goal is to make it generic. I think with the list of indices it is good.
I will double check the code and then we can merge it.

[rmolazem]

The breathing option was added to the Motion Replay Controller through a boolean breathing flag. I think it is better to keep the breathing deformation within this controller, since it overwrites the grid's MO too.
Introducing separate controllers for heart motion and breathing, where both overwriting the grids, would require careful management of the controller instantiation hierarchy, which may not be very user-friendly in the complex scene files.
I will still do modifications to the controller for now to see if I can fix the problem of fixed points, then we can decide if we separate the breathing from the heart beating or not.

[epernod]

few last changes

[rmolazem]

Regarding the time step: I initially planned to explicitly compare the scene time step with the one used for deformation recording and log a warning if they differed. But, I defined dvfIndex as it directly maps the current simulation time to the corresponding recorded frame, naturally handling any time step mismatch without requiring an explicit check. I think this way is better.

[epernod]

I think there was an error, fixed point where still moving from DVF file
And fixed point should be an option

I wrote the code directly in github. I didn't compiled nor tested the code

[epernod]

Suggested change

	if (fixedIndices.empty())
	{
	msg_warning() << "No fixed indices provided.";
	return;
	}

for me this is just an additional feature so empty array is possible

[epernod]

Suggested change

	std::unordered_set<unsigned int> fixedSet(
	fixedIndices.begin(),
	fixedIndices.end()
	);

no need to copy the array

[epernod]

Suggested change

	positions[i][0] = frames[currentIndex][i][0];
	positions[i][1] = frames[currentIndex][i][1];
	positions[i][2] = frames[currentIndex][i][2];
	if (fixedSet.find(static_cast<unsigned int>(i)) == fixedSet.end())
	{
	int axis = d_displacementAxis.getValue(); // 0=X, 1=Y, 2=Z
	positions[i][1] += offset;
	}
	auto it = std::find(fixedIndices.begin(), fixedIndices.end(), i);
	if (it != fixedIndices.end())
	continue;
	positions[i][0] = frames[currentIndex][i][0];
	positions[i][1] = frames[currentIndex][i][1];
	positions[i][2] = frames[currentIndex][i][2];
	if (offset != 0.0)
	{
	int axis = d_displacementAxis.getValue(); // 0=X, 1=Y, 2=Z
	positions[i][axis] += offset;
	}

you might need to add: #include