Skip to content

[algorithm] Refactor PR #5 - Remove needlePts variable #51

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
epernod merged 2 commits into from
Aug 7, 2025
Merged

[algorithm] Refactor PR #5 - Remove needlePts variable #51

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
deaea6a
[algorithm] Removed the needlePts variable - not needed
th-skam Aug 1, 2025
72a5ff6
apply changes
th-skam Aug 7, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 3 additions & 13 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ class InsertionAlgorithm : public BaseAlgorithm
Data<bool> d_projective;
Data<SReal> d_punctureForceThreshold, d_tipDistThreshold;
ConstraintSolver::SPtr m_constraintSolver;
std::vector<BaseProximity::SPtr> m_needlePts, m_couplingPts;
std::vector<BaseProximity::SPtr> m_couplingPts;
Data<bool> d_drawCollision, d_drawPoints;
Data<SReal> d_drawPointsScale;

Expand All @@ -57,7 +57,6 @@ class InsertionAlgorithm : public BaseAlgorithm
"the last proximity detection. Once exceeded, a new "
"proximity pair is added for the needle-volume coupling.")),
m_constraintSolver(nullptr),
m_needlePts(),
m_couplingPts(),
d_drawCollision(initData(&d_drawCollision, false, "drawcollision", "Draw collision.")),
d_drawPoints(initData(&d_drawPoints, false, "drawPoints", "Draw detection outputs.")),
Expand Down Expand Up @@ -146,7 +145,6 @@ class InsertionAlgorithm : public BaseAlgorithm
// EdgeNormalHandler in the Constraint classes will need this
const BaseProximity::SPtr shaftProx = findClosestProxOnShaft(
dpair.second, l_shaftGeom.get(), projectOnShaft, getFilterFunc());
m_needlePts.push_back(shaftProx);
m_couplingPts.push_back(dpair.second);
insertionOutput.add(shaftProx, dpair.second);
}
Expand Down Expand Up @@ -185,7 +183,6 @@ class InsertionAlgorithm : public BaseAlgorithm
}
else
{

ElementIterator::SPtr itTip = l_tipGeom->begin();
auto createTipProximity =
Operations::CreateCenterProximity::Operation::get(itTip->getTypeInfo());
Expand All @@ -201,10 +198,8 @@ class InsertionAlgorithm : public BaseAlgorithm
.normalized();
const type::Vec3 ab = m_couplingPts.back()->getPosition() - tipProx->getPosition();
const SReal dotProd = dot(ab, normal);
if (dotProd > 0.0)
{
if (dotProd > 0.0) {
m_couplingPts.pop_back();
m_needlePts.pop_back();
}

const SReal dist = ab.norm();
Expand All @@ -219,23 +214,18 @@ class InsertionAlgorithm : public BaseAlgorithm
{
volProx->normalize();
m_couplingPts.push_back(volProx);
m_needlePts.push_back(m_needlePts.back());
}
}

auto findClosestProxOnShaft =
Operations::FindClosestProximity::Operation::get(l_shaftGeom);
auto projectOnShaft = Operations::Project::Operation::get(l_shaftGeom);

for (int i = 0; i < m_couplingPts.size(); i++)
{
const BaseProximity::SPtr shaftProx = findClosestProxOnShaft(
m_couplingPts[i], l_shaftGeom.get(), projectOnShaft, getFilterFunc());
m_needlePts[i] = shaftProx;
insertionOutput.add(shaftProx, m_couplingPts[i]);
}

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

d_collisionOutput.endEdit();
Expand Down