even more doc

Author: th-skam

README.md

@@ -6,7 +6,21 @@
 [![Support us](https://img.shields.io/badge/support_us-on_Github_Sponsor-purple.svg)](https://github.com/sponsors/InfinyTech3D)
 
 ## Description
-This is a SOFA plugin (https://github.com/sofa-framework/sofa) that provides a customized collision pipeline, tailored for needle insertion simulations. 
+This is a SOFA plugin (https://github.com/sofa-framework/sofa) that provides a customized collision pipeline, 
+tailored for needle insertion simulations. 
+Combined with SOFA's haptic device plugins, it offers users tactile feedback during tissue puncture, including friction and lateral movement blocking during insertion. 
+and insertion procedures.
+
+This plugin has already been integrated in Unity via the SOFA-Unity plugin by InfinyTech3D for an enhanced simulation experience. 
+Contact us for more information!
+
+## Features
+
+The enhanced collision pipeline supports the detection of 
+primitive proximities which are then used to enforce contact and insertion constraints on the needle. 
+A dedicated insertion algorithm handles the management of needle simulation phases: tissue punture, insertion and retraction. 
+Users can experience tactile feedback with resistance and relief during tissue punctures and 
+lateral movement blocking of the needle during an insertion. 
 
 ## Installation and Setup
 
@@ -25,7 +39,8 @@ https://sofa-framework.github.io/doc/plugins/build-a-plugin-from-sources/
 - Compile SOFA solution (the plugin will be compiled as well)
 
 > [!IMPORTANT]
-> In order to use the plugin, make sure that you have also built the [`ConstraintGeometry`](https://github.com/InfinyTech3D/ConstraintGeometry) plugin.
+> In order to use the plugin, make sure that you have also built the 
+[`ConstraintGeometry`](https://github.com/InfinyTech3D/ConstraintGeometry) plugin.
 
 Supported SOFA versions: > v25.06
 
@@ -41,4 +56,6 @@ Supported SOFA versions: > v25.06
     - Files for automated regression testing in alignment with SOFA's testing framework
 
 ## Acknowledgments
-This project builds upon the original repository from [ICube Laboratory, University of Strasbourg](https://icube.unistra.fr/en/) and extends it with a needle insertion algorithm and additional functionality.
+This project builds upon the original repository from 
+[ICube Laboratory, University of Strasbourg](https://icube.unistra.fr/en/) 
+and extends it with a needle insertion algorithm and additional functionality.