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[Needle][algorithm] Volume proximities are re-projected back onto the needle at every time step #35

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Merged
th-skam merged 2 commits into from
Jul 28, 2025
Merged

[Needle][algorithm] Volume proximities are re-projected back onto the needle at every time step #35

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2eb1d24
[Needle][algorithm] Volume proximities are re-projected back onto the…
th-skam Jul 25, 2025
3bc7629
[Needle][algorithm] Minor cleanup
th-skam Jul 28, 2025
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36 changes: 19 additions & 17 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -146,36 +146,38 @@ class InsertionAlgorithm : public BaseAlgorithm {
}
else
{
const SReal dist = (m_needlePts.back()->getPosition() - m_couplingPts.back()->getPosition()).norm();
outputList.clear();

auto itfrom = l_from->begin();
auto createProximityOp = Operations::CreateCenterProximity::Operation::get(itfrom->getTypeInfo());
auto pfrom = createProximityOp(itfrom->element());

const SReal dist = (pfrom->getPosition() - m_couplingPts.back()->getPosition()).norm();
if(dist > d_slideDistance.getValue())
{
outputList.clear();
auto findClosestProxOp_vol = Operations::FindClosestProximity::Operation::get(l_destVol);
auto projectOp_vol = Operations::Project::Operation::get(l_destVol);
auto projectFromOp_vol = Operations::Project::Operation::get(l_fromVol);
auto pdestVol = findClosestProxOp_vol(m_needlePts.back(), l_destVol.get(), projectOp_vol, getFilterFunc());
if (pdestVol != nullptr)
auto pdestVol = findClosestProxOp_vol(pfrom, l_destVol.get(), projectOp_vol, getFilterFunc());
if (pdestVol)
{
pdestVol->normalize();
m_couplingPts.push_back(pdestVol);
m_needlePts.push_back(m_needlePts.back());
}
}

auto itfromVol = l_fromVol->begin(l_fromVol->getSize() - 1 - m_couplingPts.size());

auto findClosestProxOp_needle = Operations::FindClosestProximity::Operation::get(l_fromVol);
auto projectOp_needle = Operations::Project::Operation::get(l_fromVol);

for(int i = 0 ; i < m_needlePts.size() - 1; i++)
{
auto pfromVol = findClosestProxOp_needle(m_couplingPts[i], l_fromVol.get(), projectOp_needle, getFilterFunc());
m_needlePts[i] = pfromVol;
}
auto findClosestProxOp_needle = Operations::FindClosestProximity::Operation::get(l_fromVol);
auto projectOp_needle = Operations::Project::Operation::get(l_fromVol);

for(int i = 0 ; i < m_needlePts.size(); i++)
outputList.add(m_needlePts[i], m_couplingPts[i]);
}
for(int i = 0 ; i < m_couplingPts.size(); i++)
{
auto pfromVol = findClosestProxOp_needle(m_couplingPts[i], l_fromVol.get(), projectOp_needle, getFilterFunc());
m_needlePts[i] = pfromVol;
}

for(int i = 0 ; i < m_couplingPts.size(); i++)
outputList.add(m_needlePts[i], m_couplingPts[i]);
}

d_output.endEdit();
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