[Needle] Use the MechanicalState of the needle tip node to get the impulse and initiate puncture #21
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epernod
added
pr: enhancement
pr: status to review
…Alrogithm after changes in RigidMapping
This was referenced Jul 18, 2025
… initiate puncture instead of the one in the master needle node
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The InsertionAlgorithm uses the MechanicalState holding all the DOFs of the needle model to get the value of lambda (the impulse) from the constraint solver and compare it with the puncture threshold. By convention, it is assumed that the DOF at the tip of the needle is the last element in this MechanicalState.
With this PR, the algorithm uses the mstate that corresponds to the needle tip node instead. This is more direct and appropriate.
Note
It is assumed that the MechanicalObject in the needle tip node is of type Vec3 and that it is of size = 1.
Closes #13