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[algorithm] Refactor PR #4 - Proper iterator use #50

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Merged
epernod merged 1 commit into from
Aug 7, 2025
Merged

[algorithm] Refactor PR #4 - Proper iterator use #50

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23 changes: 9 additions & 14 deletions src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,8 @@ class InsertionAlgorithm : public BaseAlgorithm
auto& collisionOutput = *d_collisionOutput.beginEdit();
auto& insertionOutput = *d_insertionOutput.beginEdit();

insertionOutput.clear();
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if (m_couplingPts.empty())
{
const MechStateTipType::SPtr mstate = l_tipGeom->getContext()->get<MechStateTipType>();
Expand All @@ -145,8 +147,8 @@ class InsertionAlgorithm : public BaseAlgorithm
const BaseProximity::SPtr shaftProx = findClosestProxOnShaft(
dpair.second, l_shaftGeom.get(), projectOnShaft, getFilterFunc());
m_needlePts.push_back(shaftProx);
m_couplingPts.push_back(dpair.second->copy());
insertionOutput.add(shaftProx, dpair.second->copy());
m_couplingPts.push_back(dpair.second);
insertionOutput.add(shaftProx, dpair.second);
}
collisionOutput.clear();
return;
Expand All @@ -155,17 +157,16 @@ class InsertionAlgorithm : public BaseAlgorithm

collisionOutput.clear();

ElementIterator::SPtr itTip = l_tipGeom->begin();
auto createTipProximity =
Operations::CreateCenterProximity::Operation::get(itTip->getTypeInfo());
Operations::CreateCenterProximity::Operation::get(l_tipGeom->getTypeInfo());
auto findClosestProxOnSurf =
Operations::FindClosestProximity::Operation::get(l_surfGeom);
auto projectOnSurf = Operations::Project::Operation::get(l_surfGeom);
auto projectOnTip = Operations::Project::Operation::get(l_tipGeom);

for (; itTip != l_tipGeom->end(); itTip++)
for (const auto& itTip : *l_tipGeom)
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{
BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
BaseProximity::SPtr tipProx = createTipProximity(itTip.element());
if (!tipProx) continue;
const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
tipProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
Expand All @@ -174,22 +175,16 @@ class InsertionAlgorithm : public BaseAlgorithm
surfProx->normalize();
if (d_projective.getValue())
{
tipProx = projectOnTip(surfProx->getPosition(), itTip->element()).prox;
tipProx = projectOnTip(surfProx->getPosition(), itTip.element()).prox;
if (!tipProx) continue;
tipProx->normalize();

collisionOutput.add(tipProx, surfProx);
}
else
{
collisionOutput.add(tipProx, surfProx);
}
collisionOutput.add(tipProx, surfProx);
}
}
}
else
{
insertionOutput.clear();

ElementIterator::SPtr itTip = l_tipGeom->begin();
auto createTipProximity =
Expand Down