[algorithm] Using containsPoint operations in the insertion algorithm class - no dynamic casts to elements

Author: th-skam

src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h

@@ -6,6 +6,7 @@
 #include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
 #include <sofa/collisionAlgorithm/operations/FindClosestProximity.h>
 #include <sofa/collisionAlgorithm/operations/Project.h>
+#include <sofa/collisionAlgorithm/operations/ContainsPoint.h>
 #include <sofa/collisionAlgorithm/proximity/EdgeProximity.h>
 #include <sofa/collisionAlgorithm/proximity/TetrahedronProximity.h>
 #include <sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h>
@@ -224,24 +225,17 @@ class InsertionAlgorithm : public BaseAlgorithm
                 auto projectOnVol = Operations::Project::Operation::get(l_volGeom);
                 const BaseProximity::SPtr volProx =
                     findClosestProxOnVol(tipProx, l_volGeom.get(), projectOnVol, getFilterFunc());
+
                 // Proximity can be detected before the tip enters the tetra (e.g. near a boundary face)
                 // Only accept proximities if the tip is inside the tetra during insertion
                 if (volProx)
                 {
-                    TetrahedronProximity::SPtr tetProx =
-                        dynamic_pointer_cast<TetrahedronProximity>(volProx);
-                    if (tetProx)
+                    auto containsPointInVol = Operations::ContainsPointInProximity::Operation::get(
+                        l_volGeom->getTypeInfo());
+                    if(containsPointInVol(tipProx->getPosition(), volProx))
                     {
-                        double f0(tetProx->f0()), f1(tetProx->f1()), f2(tetProx->f2()),
-                            f3(tetProx->f3());
-                        bool isInTetra = toolbox::TetrahedronToolBox::isInTetra(
-                            tipProx->getPosition(), tetProx->element()->getTetrahedronInfo(), f0,
-                            f1, f2, f3);
-                        if (isInTetra)
-                        {
-                            volProx->normalize();
-                            m_couplingPts.push_back(volProx);
-                        }
+                        volProx->normalize();
+                        m_couplingPts.push_back(volProx);
                     }
                 }
             }