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[algorithm] Re-apply the PR#47 on master #59

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Merged
th-skam merged 2 commits into from
Aug 7, 2025
Merged

[algorithm] Re-apply the PR#47 on master #59

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24627c6
[algorithm] use sptr with getters from node context instead of raw po…
th-skam Jul 30, 2025
6cd1056
[algorithm] use const qualifier for a sptr object that is constant
th-skam Jul 30, 2025
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23 changes: 12 additions & 11 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ class InsertionAlgorithm : public BaseAlgorithm
Data<AlgorithmOutput> d_collisionOutput, d_insertionOutput;
Data<bool> d_projective;
Data<SReal> d_punctureForceThreshold, d_tipDistThreshold;
ConstraintSolver* m_constraintSolver;
ConstraintSolver::SPtr m_constraintSolver;
std::vector<BaseProximity::SPtr> m_needlePts, m_couplingPts;
Data<bool> d_drawCollision, d_drawPoints;
Data<SReal> d_drawPointsScale;
Expand Down Expand Up @@ -71,7 +71,7 @@ class InsertionAlgorithm : public BaseAlgorithm
void init() override
{
BaseAlgorithm::init();
m_constraintSolver = this->getContext()->get<ConstraintSolver>();
this->getContext()->get<ConstraintSolver>(m_constraintSolver);
}

void draw(const core::visual::VisualParams* vparams)
Expand Down Expand Up @@ -108,10 +108,11 @@ class InsertionAlgorithm : public BaseAlgorithm

if (insertionOutput.size() == 0)
{
const MechStateTipType* mstate = l_tipGeom->getContext()->get<MechStateTipType>();
const MechStateTipType::SPtr mstate = l_tipGeom->getContext()->get<MechStateTipType>();
if (m_constraintSolver)
{
const auto lambda = m_constraintSolver->getLambda()[mstate].read()->getValue();
const auto lambda =
m_constraintSolver->getLambda()[mstate.get()].read()->getValue();
if (lambda[0].norm() > d_punctureForceThreshold.getValue())
{
auto findClosestProxOnShaft =
Expand All @@ -121,7 +122,7 @@ class InsertionAlgorithm : public BaseAlgorithm
{
// Reproject onto the needle to create an EdgeProximity - the
// EdgeNormalHandler in the Constraint classes will need this
BaseProximity::SPtr shaftProx = findClosestProxOnShaft(
const BaseProximity::SPtr shaftProx = findClosestProxOnShaft(
dpair.second, l_shaftGeom.get(), projectOnShaft, getFilterFunc());
m_needlePts.push_back(shaftProx);
m_couplingPts.push_back(dpair.second->copy());
Expand All @@ -146,7 +147,7 @@ class InsertionAlgorithm : public BaseAlgorithm
{
BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
if (!tipProx) continue;
BaseProximity::SPtr surfProx = findClosestProxOnSurf(
const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
tipProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
if (surfProx)
{
Expand All @@ -173,12 +174,12 @@ class InsertionAlgorithm : public BaseAlgorithm
ElementIterator::SPtr itTip = l_tipGeom->begin();
auto createTipProximity =
Operations::CreateCenterProximity::Operation::get(itTip->getTypeInfo());
BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
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());
BaseProximity::SPtr shaftProx = createShaftProximity(itShaft->element());
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())
Expand All @@ -197,7 +198,7 @@ class InsertionAlgorithm : public BaseAlgorithm
auto findClosestProxOnVol =
Operations::FindClosestProximity::Operation::get(l_volGeom);
auto projectOnVol = Operations::Project::Operation::get(l_volGeom);
BaseProximity::SPtr volProx =
const BaseProximity::SPtr volProx =
findClosestProxOnVol(tipProx, l_volGeom.get(), projectOnVol, getFilterFunc());
if (volProx)
{
Expand All @@ -213,8 +214,8 @@ class InsertionAlgorithm : public BaseAlgorithm

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

Expand Down