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[algorithm] Refactor PR #6 - Rework order of removal/addition of coupling points #52

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Merged
epernod merged 2 commits into from
Aug 8, 2025
Merged

[algorithm] Refactor PR #6 - Rework order of removal/addition of coupling points #52

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5e31a88
[algorithm] switched the order of coupling point removal and addition
th-skam Aug 1, 2025
871e747
[algorithm] rename the vector from the tip to the last coupling point
th-skam Aug 1, 2025
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32 changes: 16 additions & 16 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,22 +188,8 @@ class InsertionAlgorithm : public BaseAlgorithm
Operations::CreateCenterProximity::Operation::get(itTip->getTypeInfo());
const BaseProximity::SPtr tipProx = createTipProximity(itTip->element());

ElementIterator::SPtr itShaft = l_shaftGeom->begin(l_shaftGeom->getSize() - 2);
auto createShaftProximity =
Operations::CreateCenterProximity::Operation::get(itShaft->getTypeInfo());
const BaseProximity::SPtr shaftProx = createShaftProximity(itShaft->element());
const EdgeProximity::SPtr edgeProx = dynamic_pointer_cast<EdgeProximity>(shaftProx);
const type::Vec3 normal = (edgeProx->element()->getP1()->getPosition() -
edgeProx->element()->getP0()->getPosition())
.normalized();
const type::Vec3 ab = m_couplingPts.back()->getPosition() - tipProx->getPosition();
const SReal dotProd = dot(ab, normal);
if (dotProd > 0.0) {
m_couplingPts.pop_back();
}

const SReal dist = ab.norm();
if (dist > d_tipDistThreshold.getValue())
const type::Vec3 tip2Pt = m_couplingPts.back()->getPosition() - tipProx->getPosition();
if (tip2Pt.norm() > d_tipDistThreshold.getValue())
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@epernod epernod Aug 8, 2025 •
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I checked in the full method code, this is not the case here, but just FYI, if possible, .getValue() should not be called inside a for loop because they imply some memory access that the compilator can't optimize (due to the Data container code etc...)

So it is better to do:

const auto& data = d_data.getValue();
for (;;)
{
   mycheck(value, data);
}

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@th-skam th-skam Aug 8, 2025

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Ah yes, that rings a bell. I'll actually adjust this in the next PR 'cause it's a good tip.

{
auto findClosestProxOnVol =
Operations::FindClosestProximity::Operation::get(l_volGeom);
Expand All @@ -216,6 +202,20 @@ class InsertionAlgorithm : public BaseAlgorithm
m_couplingPts.push_back(volProx);
}
}
else // Don't bother with removing the point that was just added
{
ElementIterator::SPtr itShaft = l_shaftGeom->begin(l_shaftGeom->getSize() - 2);
auto createShaftProximity =
Operations::CreateCenterProximity::Operation::get(itShaft->getTypeInfo());
const BaseProximity::SPtr shaftProx = createShaftProximity(itShaft->element());
const EdgeProximity::SPtr edgeProx = dynamic_pointer_cast<EdgeProximity>(shaftProx);
const type::Vec3 normal = (edgeProx->element()->getP1()->getPosition() -
edgeProx->element()->getP0()->getPosition())
.normalized();
if (dot(tip2Pt, normal) > 0_sreal) {
m_couplingPts.pop_back();
}
}

auto findClosestProxOnShaft =
Operations::FindClosestProximity::Operation::get(l_shaftGeom);
Expand Down