[algorithm] Convert impulse to force when checking for puncture

th-skam · th-skam · commit 3125fc0504b1 · 2025-12-16T16:56:33.000+01:00
diff --git a/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp
@@ -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)
                 {

Original file line number	Diff line number	Diff line change
`@@ -180,12 +180,15 @@ InsertionAlgorithm::AlgorithmOutput InsertionAlgorithm::puncturePhase()`
`180`	`180`	`l_tipGeom->getContext()->get<MechStateTipType>();`
`181`	`181`	`const auto& lambda =`
`182`	`182`	`m_constraintSolver->getLambda()[mstate.get()].read()->getValue();`
	`183`	`+ const auto dt = l_tipGeom->getContext()->getDt();`
`183`	`184`	`SReal norm{0_sreal};`
`184`	`185`
`185`	`186`	`for (const auto& l : lambda)`
`186`	`187`	`{`
`187`	`188`	`norm += l.norm();`
`188`	`189`	`}`
	`190`	`+ // Convert impulse to force`
	`191`	`+ norm /= dt;`
`189`	`192`
`190`	`193`	`if (norm > punctureForceThreshold)`
`191`	`194`	`{`