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[Needle][algorithm] Modify proximity computations to introduce the EdgeNormalHandler for the insertion constraint #33

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th-skam merged 1 commit into from
Jul 25, 2025
Merged

[Needle][algorithm] Modify proximity computations to introduce the EdgeNormalHandler for the insertion constraint #33

th-skam merged 1 commit into from
Jul 25, 2025

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@th-skam th-skam commented Jul 21, 2025 •
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This PR is co-dependent upon

InfinyTech3D/ConstraintGeometry#6

Modifications

  • The added code in insertion algorithm reprojects the first proximity, detected by the tip before puncture, back onto the needle. This creates an EdgeProximity that can then be used by the EdgeNormalHandler to appropriately compute normal vectors for the insertion constraint.
  • The scene has been modified to include the EdgeNormalHandler in the node of the needle body collision.

@th-skam th-skam mentioned this pull request Jul 21, 2025
Merged
@th-skam th-skam force-pushed the collision-normalHandler branch 2 times, most recently from 9536d0a to 7e8e91a Compare July 22, 2025 09:40
@th-skam
[Needle][algorithm] Modified scene and algorithm to allow for the Edg…
b950468 
…eNormalHandler to operate

    The moment the first coupling point is created (right after the puncture),
    it is important to reproject the first proximity back on the needle. This
    will create an EdgeProximity type and will allow the EdgeNormalHandler to
    operate. Otherwise, a MechanicalProximity is used for which there are no
    specialized functions.
@th-skam th-skam force-pushed the collision-normalHandler branch from 7e8e91a to b950468 Compare July 23, 2025 13:22
@th-skam th-skam merged commit baa279a into master Jul 25, 2025
@th-skam th-skam deleted the collision-normalHandler branch July 25, 2025 14:03
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@th-skam