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[algorithm] Fix bug concerning coupling point removal during retraction #90

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Merged
epernod merged 13 commits into from
Sep 19, 2025
Merged

[algorithm] Fix bug concerning coupling point removal during retraction #90

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4d0eee0
[operations] Added a namespace for NeedleOperations and a function to…
th-skam Sep 11, 2025
30c2cd3
[operations] Implemented a custom function for removing points based …
th-skam Sep 11, 2025
afda3a8
[algorithm] Use custom operation for point removal - avoid dynamic c…
th-skam Sep 11, 2025
2fbd7ad
[operations] Message warning for empty element pointer or empty coupl…
th-skam Sep 11, 2025
3e29573
[operations] Wrongly defined return statements in point removal opera…
th-skam Sep 11, 2025
ee940a4
[operations] Fix operation removing only one coupling point per time …
th-skam Sep 11, 2025
4e64e68
[algorithm] update algorithm logic
th-skam Sep 11, 2025
c3a179b
[algorithm] Fix crash in case coupling points are all removed and vec…
th-skam Sep 11, 2025
192e5c9
Merge branch 'master' into fix-retraction - this includes the operati…
th-skam Sep 12, 2025
50f392f
Merge branch 'master' into fix-retraction
th-skam Sep 15, 2025
4e4eebc
Merge changes due to reworking cmake workflow
th-skam Sep 19, 2025
9a4f6d4
[operations] Fail-proof while loop with safety counter
th-skam Sep 19, 2025
0b5ebb5
[operations] Remove safety counter
th-skam Sep 19, 2025
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16 changes: 8 additions & 8 deletions src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,14 @@ class InsertionAlgorithm : public BaseAlgorithm
const BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
if (!tipProx) return;

// Remove coupling points that are ahead of the tip in the insertion direction
ElementIterator::SPtr itShaft = l_shaftGeom->begin(l_shaftGeom->getSize() - 2);
auto prunePointsAheadOfTip =
Operations::Needle::PrunePointsAheadOfTip::get(itShaft->getTypeInfo());
prunePointsAheadOfTip(m_couplingPts, itShaft->element());

if (m_couplingPts.empty()) return;

type::Vec3 lastCP = m_couplingPts.back()->getPosition();
const SReal tipDistThreshold = this->d_tipDistThreshold.getValue();

Expand Down Expand Up @@ -290,14 +298,6 @@ class InsertionAlgorithm : public BaseAlgorithm
}
}
}
else // Don't bother with removing the point that was just added
{
// Remove coupling points that are ahead of the tip in the insertion direction
ElementIterator::SPtr itShaft = l_shaftGeom->begin(l_shaftGeom->getSize() - 2);
auto prunePointsAheadOfTip =
Operations::Needle::PrunePointsAheadOfTip::get(itShaft->getTypeInfo());
prunePointsAheadOfTip(m_couplingPts, itShaft->element());
}
}

if (!m_couplingPts.empty())
Expand Down
15 changes: 9 additions & 6 deletions src/CollisionAlgorithm/operations/NeedleOperations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,16 +14,19 @@ bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
}
const type::Vec3 edgeBase(edge->getP0()->getPosition());
const type::Vec3 tip(edge->getP1()->getPosition());

const type::Vec3 edgeDirection = tip - edgeBase;

if (couplingPts.empty()) return true;
const type::Vec3 tip2Pt = couplingPts.back()->getPosition() - tip;
const int initSize = couplingPts.size();

// Positive dot product means the point is ahead of the tip
if (dot(tip2Pt, edgeDirection) > 0_sreal) couplingPts.pop_back();
while(!couplingPts.empty())
{
const type::Vec3 tip2Pt = couplingPts.back()->getPosition() - tip;

return true;
// Negative dot product means the point is behind the tip
if(dot(tip2Pt, edgeDirection) < 0_sreal) break;
couplingPts.pop_back();
}
return (initSize == couplingPts.size());
}

int register_PrunePointsAheadOfTip_Edge =
Expand Down
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