[Needle][constraint] Addition of two bilateral constraints on the needle shaft during the insertion #6
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…evelopment by duplicating bilateral constraint functions
These are implemented in the ConstraintInsertion class. The computation of the bilateral directions relies on the use of the EdgeNormalHandler combined with the FirstDirection class.
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PR co-dependency
InfinyTech3D/CollisionAlgorithm#33
Additions
Enforcement of the bilateral constraints on the needle shaft
Issues closed
Closes #2
Closes #4