Skip to content

[algorithm] Convert impulse to force when checking for puncture #108

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
th-skam merged 2 commits into from
Dec 17, 2025
Merged

[algorithm] Convert impulse to force when checking for puncture #108

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
cf89387
[algorithm] Convert impulse to force when checking for puncture
th-skam Dec 16, 2025
1652d51
[scene] Adjust scenes
th-skam Dec 16, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion scenes/NeedleInsertion.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,7 @@ def createScene(root):
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=16,
punctureForceThreshold=1600,
tipDistThreshold=0.003,
drawcollision=True,
drawPointsScale=0.0001
Expand Down
2 changes: 1 addition & 1 deletion scenes/NeedleInsertionCycles.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ def createScene(root):
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=2.,
punctureForceThreshold=200,
tipDistThreshold=0.003,
drawcollision=True,
drawPointsScale=0.0001
Expand Down
2 changes: 1 addition & 1 deletion scenes/NeedleInsertionHaptics.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -212,7 +212,7 @@ def createScene(root):
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=1.,
punctureForceThreshold=100,
tipDistThreshold=0.01,
drawcollision=True,
drawPointsScale=0.0001
Expand Down
3 changes: 3 additions & 0 deletions src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -180,12 +180,15 @@ InsertionAlgorithm::AlgorithmOutput InsertionAlgorithm::puncturePhase()
l_tipGeom->getContext()->get<MechStateTipType>();
const auto& lambda =
m_constraintSolver->getLambda()[mstate.get()].read()->getValue();
const auto dt = l_tipGeom->getContext()->getDt();
SReal norm{0_sreal};

for (const auto& l : lambda)
{
norm += l.norm();
}
// Convert impulse to force
norm /= dt;

if (norm > punctureForceThreshold)
{
Expand Down
Loading