[WireRestShape] Introduce use of RodSectionMaterial

[epernod]

Add new set of classes which hold the mechanical property and the topology (visual and collision) description of a section of the Rod/Wire.

• BaseRodSectionMaterial // base class, not a component
• RodMeshSection // section defined by a mesh
• RodSpireSection // section defining a spire
• RodStraightSection // section defining a straight line

Thoses classes are components to be placed in the graph and linked to the WireRestShape. All the Data which were managed by the WireRestShape have been moved to these new components. Here is the new usage:

For a simple spire catheter:

    <RodStraightSection name="StraightSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
    <RodSpireSection name="SpireSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="5" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
        
    <WireRestShape template="Rigid3d" name="BeamRestShape" printLog="1" wireMaterials="@StraightSection @SpireSection"/>

For a catheter with a mesh describing the tip:

    <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"/>
        
    <WireRestShape template="Rigid3d" name="GC_RestShape" printLog="false" wireMaterials="@StraightSection @MeshTipSection" />

• WireRestShape is still the main component to be used with BeamInterpolation and InterventionalRadiologyController.
• WireRestShape also defines the densityOfBeams of each section of the Wire and their corresponding lengths.
  • All those data are now directly computed by accumulating the information from the different sections.
• With this new design it is possible to define as many section of the wire as wanted using wireMaterials. densityOfBeams and keyPoints are automatically computed

Still to be done:
This PR is still a draft to discuss the design. Some features have not been moved yet:

• WireSectionMaterial initFromLoader
• WireSectionMaterial procedural creation using spireDiameter and spireHeight
• Updating all the scenes

[epernod]

Note that I have updated scene with exactly the same sampling as before for the regression test. But now that section are well divided, it would be much easier to add more beam/edges on the curve part of a coil than on the straight part.

Before (setting a number of edges for the whole tool)	After, updating the edges per sections of the tool

[fredroy]

Last call before merging (as the new regression ref are working #121 )
Any feedback ? @EulalieCoevoet @adagolodjo @ChristianDuriez ... and (silent) others ?

[ChristianDuriez]

Last call before merging (as the new regression ref are working #121 )
Any feedback ? @EulalieCoevoet @adagolodjo @ChristianDuriez ... and (silent) others ?

This seems to me to be a positive step towards simulating a wider range of tools.