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

th-skam · web-flow · commit fb2a4600cb9a · 2025-12-17T09:16:02.000+01:00
* [scene] Adjust scenes
diff --git a/scenes/NeedleInsertion.py b/scenes/NeedleInsertion.py
@@ -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
diff --git a/scenes/NeedleInsertionCycles.py b/scenes/NeedleInsertionCycles.py
@@ -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
diff --git a/scenes/NeedleInsertionHaptics.py b/scenes/NeedleInsertionHaptics.py
@@ -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
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`	`{`