From f8a0aadaff58a62e05686f642eec5c1606e942d2 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Thu, 19 Mar 2026 17:08:22 +0900
Subject: [PATCH 1/2] fix when giving 0 as index for fixFirstNodesWithUntil

---
 .../controller/InterventionalRadiologyController.inl   | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 5a21797c4..c5417a77f 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -1121,14 +1121,20 @@ void InterventionalRadiologyController<DataTypes>::fillInstrumentCurvAbsTable(co
 template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
 {
+    l_fixedConstraint->clearConstraints();
+
+    if (firstSimulatedNode == 0)
+    {
+        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;

From 70ac66064962cb743620da92b932c199d66eee5b Mon Sep 17 00:00:00 2001
From: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date: Thu, 26 Mar 2026 09:57:35 +0100
Subject: [PATCH 2/2] Update
 src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

Co-authored-by: erik pernod <erik.pernod@gmail.com>
---
 .../component/controller/InterventionalRadiologyController.inl   | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index c5417a77f..04aaeca2c 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -1125,6 +1125,7 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign
 
     if (firstSimulatedNode == 0)
     {
+        msg_warning() << "An invalid value of firstSimulatedNode equal to 0 has been given to fixFirstNodesWithUntil() method.";
         d_indexFirstNode = 0;
         return;
     }