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

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Merged
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

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21 changes: 11 additions & 10 deletions scenes/NeedleInsertion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,14 +94,15 @@ def createScene(root):
needleBodyCollision = needle.addChild("bodyCollision")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container")
needleBodyCollision.addObject("MechanicalObject",name="mstate_body", template="Vec3d",)
needleBodyCollision.addObject("EdgeGeometry",name="geom",mstate="@mstate_body", topology="@Container_body")
needleBodyCollision.addObject("EdgeGeometry",name="geom_body",mstate="@mstate_body", topology="@Container_body")
needleBodyCollision.addObject("EdgeNormalHandler", name="NeedleBeams", geometry="@geom_body")

needleBodyCollision.addObject("IdentityMapping")


needleTipCollision = needle.addChild("tipCollision")
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",)
needleTipCollision.addObject("PointGeometry",name="geom",mstate="@mstate_tip")
needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)


Expand Down Expand Up @@ -177,21 +178,21 @@ def createScene(root):


root.addObject("InsertionAlgorithm", name="InsertionAlgo",
fromGeom="@Needle/tipCollision/geom",
fromGeom="@Needle/tipCollision/geom_tip",
destGeom="@Volume/collision/geom_tri",
fromVol="@Needle/bodyCollision/geom",
fromVol="@Needle/bodyCollision/geom_body",
destVol="@Volume/geom_tetra",
punctureThreshold=0.1,
slideDistance=0.005
punctureThreshold=0.05,
slideDistance=0.005,
drawcollision=True,
sphereRadius=0.0001
#projective=True
)
root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)
root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
root.addObject("ConstraintUnilateral",input="@InsertionAlgo.output",directions="@punctureDirection",draw_scale="0.001")#, mu="0.001")

root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
root.addObject("ConstraintInsertion",input="@InsertionAlgo.outputList", directions="@bindDirection",draw_scale="0.005")#, mu="0.001")

#root.addObject("InsertionAlgorithm",name="InsertionAlgo",fromGeom="@Needle/tipCollision/geom", destGeom="@Volume/tri_geom")
#root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.005)
#root.addObject("BindDirection",name="insertionDirection")#,handler="@Volume/InternalTriangles")
#root.addObject("ConstraintBilateral",input="@InsertionAlgo.output",directions="@punctureDirection",draw_scale="0.001")

12 changes: 8 additions & 4 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Expand Up @@ -87,8 +87,8 @@ class InsertionAlgorithm : public BaseAlgorithm {

if (outputList.size() == 0)
{
const sofa::component::statecontainer::MechanicalObject<defaulttype::Vec3Types>* mstate
= l_from->getContext()->get<sofa::component::statecontainer::MechanicalObject<defaulttype::Vec3Types>>();
const sofa::core::behavior::MechanicalState<defaulttype::Vec3Types>* mstate
= l_from->getContext()->get<sofa::core::behavior::MechanicalState<defaulttype::Vec3Types>>();
if (mstate->getSize() > 1) {
msg_warning() << "Requested MechanicalObject, corresponding to the tip of the needle in the InsertionAlgorithm, has a size greater than 1. "
<< "The algorithm is designed to work with a single point. Only the first element will be used.";
Expand All @@ -99,11 +99,15 @@ class InsertionAlgorithm : public BaseAlgorithm {
m_constraintSolver->getLambda()[mstate].read()->getValue();
if (lambda[0].norm() > d_punctureThreshold.getValue())
{
auto findClosestProxOp_needle = Operations::FindClosestProximity::Operation::get(l_fromVol);
auto projectOp_needle = Operations::Project::Operation::get(l_fromVol);
for (const auto& dpair : output)
{
outputList.add(dpair.first->copy(), dpair.second->copy());
m_needlePts.push_back(dpair.first->copy());
// Reproject onto the needle to create an EdgeProximity - The EdgeHandler requires this
auto pfromVol = findClosestProxOp_needle(dpair.second, l_fromVol.get(), projectOp_needle, getFilterFunc());
m_needlePts.push_back(pfromVol);
m_couplingPts.push_back(dpair.second->copy());
outputList.add(pfromVol, dpair.second->copy());
}
output.clear();
return;
Expand Down