[Needle] First addition of a puncture algorithm #6
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…ertion progresses inside the volume
WIP: The detected tetrahedra are pushed back into a std::vector
continuously. This is unnecessary/undesirable; however, there is no need to spend time
fixing it, because in practice, proximity detection will only be activated
when the needle points slide a predetermined distance along the needle shaft.
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The NeedleInsertion.py file demonstrates the new algorithm.
The PunctureAlgorithm class uses the constraint solver to
We should improve the following:
Rely on the constraint forces expressed in the DOF space. We can "play" a bit more with normal/friction/tangential components this way.Solved by commit [e7ba03e]If possible, find the applied forces through the MechanicalObject (cleaner).Solved by commit [e7ba03e]25_07_11_NeedlePunctureProximityMarkdown.mp4
Note
The changes applied to BaseAABBBroadPhase and FindClosestProximity classes are patches for newer version of SOFA.