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[algorithm] Clean up of the InsertionAlgorithm class #45

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Merged
epernod merged 20 commits into from
Aug 4, 2025
Merged

[algorithm] Clean up of the InsertionAlgorithm class #45

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085990b
[src] Added the .clang-format file from main SOFA repository
th-skam Jul 29, 2025
712878e
[algorithm] Removed commented outputDist variable
th-skam Jul 29, 2025
9f1370d
[algorithm] Added transparency to RGBAColor for the coupling points d…
th-skam Jul 28, 2025
e757de1
[algorithm] Bring back the mstate that was deleted
th-skam Jul 29, 2025
fcfc68c
[algorithm] Set default boolean values for drawing to false
th-skam Jul 29, 2025
b8b3de0
[algorithm] Change name of sphereRadius to drawPointsScale
th-skam Jul 29, 2025
a826623
[algorithm] Simplified syntax using typedefs for code brevity
th-skam Jul 29, 2025
9babc45
[algorithm] Removed unnecessary sofa:: namespace qualifier
th-skam Jul 29, 2025
59a3e99
[algorithm] Re-organized variables' definition
th-skam Jul 29, 2025
401a162
[algorithm] Renamed detection output variables to distinguish their u…
th-skam Jul 29, 2025
44d80f4
[algorithm] Renamed link variables to BaseGeometry components
th-skam Jul 29, 2025
c9554a7
[algorithm] Renamed Geometry iterators, Operations specializations an…
th-skam Jul 30, 2025
000c3db
[algorithm] Renamed threshold variables and re-wrote descriptions
th-skam Jul 30, 2025
5ac4380
[algorithm] Simplified link check in doDetection
th-skam Jul 30, 2025
b84ffb4
[algorithm] Simplified pointer checks against nullptr
th-skam Jul 30, 2025
d3a7817
[algorithm] Format code using .clang-format shipped with main SOFA di…
th-skam Jul 30, 2025
2f63446
[algorithm] Replaced auto with ElementIterator::SPtr for clarity for …
th-skam Jul 30, 2025
0649256
[algorithm] Replaced auto with BaseProximity::SPtr when returned from…
th-skam Jul 30, 2025
296b50d
[algorithm] Re-use tipProx pointer instead of re-creating one when pr…
th-skam Jul 30, 2025
155a6d3
[src] Delete .clang-format
th-skam Jul 31, 2025
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18 changes: 9 additions & 9 deletions scenes/InsertionGeomagic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -180,18 +180,18 @@ def createScene(root):


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,
tipGeom="@Needle/tipCollision/geom_tip",
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=2.,
tipDistThreshold=0.003,
drawcollision=True,
sphereRadius=0.0001
drawPointsScale=0.0001
)
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("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",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="0.01", frictionCoeff=0.000)
root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale="0.01", frictionCoeff=0.000)
18 changes: 9 additions & 9 deletions scenes/NeedleInsertion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -179,18 +179,18 @@ def createScene(root):


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,
tipGeom="@Needle/tipCollision/geom_tip",
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=2.,
tipDistThreshold=0.003,
drawcollision=True,
sphereRadius=0.0001
drawPointsScale=0.0001
)
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)
root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001)

root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
root.addObject("ConstraintInsertion",input="@InsertionAlgo.outputList", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.05)
root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.05)
18 changes: 9 additions & 9 deletions scenes/NeedleInsertionCycles.py
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Original file line number Diff line number Diff line change
Expand Up @@ -195,18 +195,18 @@ def createScene(root):


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,
tipGeom="@Needle/tipCollision/geom_tip",
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=2.,
tipDistThreshold=0.003,
drawcollision=True,
sphereRadius=0.0001
drawPointsScale=0.0001
)
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("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",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)
root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.0023)
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