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[Needle][algorithm] Enabled insertion-removal cycles in the algorithm #41

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th-skam merged 2 commits into from
Jul 29, 2025
Merged

[Needle][algorithm] Enabled insertion-removal cycles in the algorithm #41

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2e8f8e0
[Needle][scene] Added scene to demonstrate an insertion cycle
th-skam Jul 25, 2025
acf2c7e
[Needle][algorithm] Added the removal of proximities in the algorithm
th-skam Jul 28, 2025
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216 changes: 216 additions & 0 deletions scenes/NeedleInsertionCycles.py
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import Sofa

g_needleLength=0.100 #(m)
g_needleNumberOfElems=20 #(# of edges)
g_needleBaseOffset=[0.04,0.04,0]
g_needleRadius = 0.001 #(m)
g_needleMechanicalParameters = {
"radius":g_needleRadius,
"youngModulus":1e11,
"poissonRatio":0.3
}
g_needleTotalMass=0.01

g_gelRegularGridParameters = {
"n":[8, 8, 8],
"min":[-0.125, -0.125, -0.350],
"max":[0.125, 0.125, -0.100]
} #Again all in mm
g_gelMechanicalParameters = {
"youngModulus":8e5,
"poissonRatio":0.45,
"method":"large"
}
g_gelTotalMass = 1
g_cubeColor=[0.8, 0.34, 0.34, 0.3]
g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ]

# Function called when the scene graph is being created
def createScene(root):
root.gravity=[0,0,-9.81]
root.dt = 0.01

root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop',
'Sofa.Component.Constraint.Lagrangian.Solver',
'Sofa.Component.ODESolver.Backward',
'Sofa.Component.Visual',
'Sofa.Component.Constraint.Lagrangian.Correction',
'Sofa.Component.Constraint.Lagrangian.Model',
'Sofa.Component.LinearSolver.Direct',
'Sofa.Component.Mapping.Linear',
'Sofa.Component.Mass',
'Sofa.Component.SolidMechanics.FEM.Elastic',
'Sofa.Component.StateContainer',
'Sofa.Component.Topology.Container.Dynamic',
'Sofa.Component.Topology.Mapping',
'Sofa.Component.Mapping.NonLinear',
'Sofa.Component.Topology.Container.Grid',
'Sofa.Component.Constraint.Projective',
'Sofa.Component.SolidMechanics.Spring',
'Sofa.GL.Component.Rendering3D',
'Sofa.GUI.Component',
'Sofa.Component.Engine.Select',
'MultiThreading',
'CollisionAlgorithm',
'ConstraintGeometry'
])


root.addObject("ConstraintAttachButtonSetting")
root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
root.addObject("FreeMotionAnimationLoop")
root.addObject("GenericConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True)
root.addObject("CollisionLoop")

needleBaseMaster = root.addChild("NeedleBaseMaster")
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", position=[0.04, 0.04, 0, 0, 0, 0, 1], template="Rigid3d", showObjectScale=0.002, showObject="true", drawMode=1)
needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0],
keyTimes=[
0, 1, 4, 4.5, 5, 8
,8.5,9,12,12.5,13,16
],
movements=[
[0.04, 0.04,0,0,0,0],
[0.04, 0.04,0.05,0,3.14/2,0],
[0.04, 0.04,-0.07,0,3.14/2,0],
[0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0],
[0.04, 0.04,-0.07,0,3.14/2,0],
[0.04, 0.04,0.005,0,3.14/2,0],
# Change to insertion at an angle
[0.06, 0.04,0.005,0,3.14/2,0],
[0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0],
[0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
[0.030866, 0.04,-0.04119,0,3.14/2,0],
[0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
[0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0]
]
,relativeMovements=False
)


needle = root.addChild("Needle")
needle.addObject("EulerImplicitSolver", firstOrder=True)
needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd")
needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]] for i in range(g_needleNumberOfElems + 1)]
, edges=[[i, i+1] for i in range(g_needleNumberOfElems)])

needle.addObject("EdgeSetTopologyModifier", name="modifier")
needle.addObject("PointSetTopologyModifier", name="modifier2")

needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject="true", drawMode=1)

needle.addObject("UniformMass", totalMass=g_needleTotalMass)
needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters)
# needle.addObject("FixedLagrangianConstraint", indices="0" )
needle.addObject("LinearSolverConstraintCorrection", printLog="false", linearSolver="@LinearSolver")

needleBase = needle.addChild("needleBase")
needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",)
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")

needleBase.addObject("SubsetMapping", indices="0")

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_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_tip",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)


needleVisual = needle.addChild("visual")
needleVisual.addObject("QuadSetTopologyContainer", name="Container_visu")
needleVisual.addObject("QuadSetTopologyModifier", name="Modifier")
needleVisual.addObject("Edge2QuadTopologicalMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../Container", output="@Container_visu")

needleVisual.addObject("MechanicalObject", name="mstate_visu", showObjectScale="0.0002", showObject="true", drawMode="1")

needleVisual.addObject("TubularMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../mstate", output="@mstate_visu")

needleOGL = needleVisual.addChild("OGL")
needleOGL.addObject("OglModel", position="@../Container_visu.position",
vertices="@../Container_visu.position",
quads="@../Container_visu.quads",
color="0.4 0.34 0.34",
material="texture Ambient 1 0.4 0.34 0.34 1.0 Diffuse 0 0.4 0.34 0.34 1.0 Specular 1 0.4 0.34 0.34 0.1 Emissive 1 0.5 0.54 0.54 .01 Shininess 1 20",
name="visualOgl")
needleOGL.addObject("IdentityMapping")



gelTopo = root.addChild("GelGridTopo")
gelTopo.addObject("RegularGridTopology", name="HexaTop", **g_gelRegularGridParameters)


volume = root.addChild("Volume")
volume.addObject("EulerImplicitSolver")
volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d')
volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier")
volume.addObject("Hexa2TetraTopologicalMapping", input="@../GelGridTopo/HexaTop", output="@TetraContainer", swapping="false")

volume.addObject("MechanicalObject", name="mstate_gel", template="Vec3d")
volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False)
#volume.addObject("TriangleGeometry", name="tri_geom", mstate="@mstate_gel", topology="@TetraContainer",draw=True)
volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom_tetra")
volume.addObject("AABBBroadPhase",name="AABBTetra",geometry="@geom_tetra",nbox=[3,3,3],thread=1)
#volume.addObject("ParallelTetrahedronFEMForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("TetrahedronFEMForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass)

volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI)
volume.addObject("RestShapeSpringsForceField", stiffness='1e6',points="@BoxROI.indices" )

volume.addObject("LinearSolverConstraintCorrection", printLog="false", linearSolver="@LinearSolver")

volumeCollision = volume.addChild("collision")
volumeCollision.addObject("TriangleSetTopologyContainer", name="TriContainer")
volumeCollision.addObject("TriangleSetTopologyModifier", name="TriModifier")
volumeCollision.addObject("Tetra2TriangleTopologicalMapping", name="mapping", input="@../TetraContainer", output="@TriContainer", flipNormals=False)
volumeCollision.addObject("MechanicalObject", name="mstate_gelColi",position="@../TetraContainer.position")
volumeCollision.addObject("TriangleGeometry", name="geom_tri", mstate="@mstate_gelColi", topology="@TriContainer",draw=False)
volumeCollision.addObject("PhongTriangleNormalHandler", name="SurfaceTriangles", geometry="@geom_tri")
volumeCollision.addObject("AABBBroadPhase",name="AABBTriangles",thread=1,nbox=[2,2,3])

volumeCollision.addObject("IdentityMapping", name="identityMappingToCollision", input="@../mstate_gel", output="@mstate_gelColi", isMechanical=True)

volumeVisu = volumeCollision.addChild("visu")
volumeVisu.addObject("OglModel", position="@../TriContainer.position",
vertices="@../TriContainer.position",
triangles="@../TriContainer.triangles",
color=g_cubeColor,name="volume_visu",template="Vec3d")
volumeVisu.addObject("IdentityMapping")

volumeVisuWire = volume.addChild("visu_wire")
volumeVisuWire.addObject("OglModel", position="@../TetraContainer.position",
vertices="@../TetraContainer.position",
triangles="@../TetraContainer.triangles",
color=[1, 0, 1, 1],name="volume_visu",template="Vec3d")
volumeVisuWire.addObject("IdentityMapping")


root.addObject("InsertionAlgorithm", name="InsertionAlgo",
fromGeom="@Needle/tipCollision/geom_tip",
destGeom="@Volume/collision/geom_tri",
fromVol="@Needle/bodyCollision/geom_body",
destVol="@Volume/geom_tetra",
punctureThreshold=2.,
slideDistance=0.003,
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="0.002", frictionCoeff=0.0023)
17 changes: 15 additions & 2 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Expand Up @@ -9,7 +9,7 @@
#include <sofa/component/statecontainer/MechanicalObject.h>
#include <sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h>

#include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
#include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>

namespace sofa::collisionAlgorithm {

Expand Down Expand Up @@ -152,7 +152,20 @@ class InsertionAlgorithm : public BaseAlgorithm {
auto createProximityOp = Operations::CreateCenterProximity::Operation::get(itfrom->getTypeInfo());
auto pfrom = createProximityOp(itfrom->element());

const SReal dist = (pfrom->getPosition() - m_couplingPts.back()->getPosition()).norm();
auto itfromVol = l_fromVol->begin(l_fromVol->getSize() - 2);
auto createProximityOpVol = Operations::CreateCenterProximity::Operation::get(itfromVol->getTypeInfo());
auto pfromVol = createProximityOpVol(itfromVol->element());
const EdgeProximity::SPtr edgeProx = dynamic_pointer_cast<EdgeProximity>(pfromVol);
const type::Vec3 normal = (edgeProx->element()->getP1()->getPosition() - edgeProx->element()->getP0()->getPosition()).normalized();
type::Vec3 ab = m_couplingPts.back()->getPosition() - pfrom->getPosition();
const SReal dotProd = dot(ab, normal);
if (dotProd > 0.0)
{
m_couplingPts.pop_back();
m_needlePts.pop_back();
}

const SReal dist = ab.norm();
if(dist > d_slideDistance.getValue())
{
auto findClosestProxOp_vol = Operations::FindClosestProximity::Operation::get(l_destVol);
Expand Down