Segment-wise friction for BeamAdapter wire/collision models (e.g., guidewire tip)

[HannesDeittert]

I’m using BeamAdapter to model a guidewire with different material properties along its length. Stiffness can be varied via multiple Rod*Section entries in WireRestShape, but friction appears global.

In SingleBeamDeploymentCollision.scn friction is set at the solver/response level:

• LCPConstraintSolver mu="0.1" (SingleBeamDeploymentCollision.scn (line 26))

• CollisionResponse response="FrictionContactConstraint" (SingleBeamDeploymentCollision.scn (line 31)) Similarly, in Python, responseParams="mu=..." is global (Scene_Cochlea.py (line 22)).

Request
Is it possible (or could it be added) to specify friction per segment along a wire? Typical use case: higher friction at the guidewire tip, lower friction along the shaft.

Potential API ideas (open to better options)

Allow per-segment/per-edge mu values tied to WireRestShape sections (similar to how youngModulus varies).
Allow CollisionResponse or DefaultContactManager to accept a vector of mu values keyed by collision model group or edge index.
Allow LCPConstraintSolver to use group-specific mu.