[algorithm] Adapt to contactDistance parameter in scene

th-skam · th-skam · commit 04ac0958207f · 2026-05-29T17:06:04.000+02:00
diff --git a/examples/NeedleInsertion.py b/examples/NeedleInsertion.py
@@ -194,7 +194,7 @@ def createScene(root):
     )
     root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)
     root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
-    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001)
+    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0, draw_scale=0.001)
 
     root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
     root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.002)
diff --git a/examples/NeedleInsertionCycles.py b/examples/NeedleInsertionCycles.py
@@ -211,7 +211,7 @@ def createScene(root):
     )
     root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)
     root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
-    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001, mu=0.001)
+    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0,draw_scale=0.001, mu=0.001)
 
     root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
     root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.00)#23)
diff --git a/examples/NeedleInsertionHaptics.py b/examples/NeedleInsertionHaptics.py
@@ -219,7 +219,7 @@ def createScene(root):
     )
     root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.02)
     root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
-    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001, mu=0.001)
+    root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0,draw_scale=0.001, mu=0.001)
 
     root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
     root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale="0.01", frictionCoeff=0.000)

Original file line number	Diff line number	Diff line change
`@@ -194,7 +194,7 @@ def createScene(root):`
`194`	`194`	`)`
`195`	`195`	`root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)`
`196`	`196`	`root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")`
`197`		`- root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001)`
	`197`	`+ root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0, draw_scale=0.001)`
`198`	`198`
`199`	`199`	`root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")`
`200`	`200`	`root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.002)`
Original file line number	Diff line number	Diff line change
`@@ -211,7 +211,7 @@ def createScene(root):`
`211`	`211`	`)`
`212`	`212`	`root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)`
`213`	`213`	`root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")`
`214`		`- root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001, mu=0.001)`
	`214`	`+ root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0,draw_scale=0.001, mu=0.001)`
`215`	`215`
`216`	`216`	`root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")`
`217`	`217`	`root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.00)#23)`
Original file line number	Diff line number	Diff line change
`@@ -219,7 +219,7 @@ def createScene(root):`
`219`	`219`	`)`
`220`	`220`	`root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.02)`
`221`	`221`	`root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")`
`222`		`- root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001, mu=0.001)`
	`222`	`+ root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection", contactDistance=0,draw_scale=0.001, mu=0.001)`
`223`	`223`
`224`	`224`	`root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")`
`225`	`225`	`root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale="0.01", frictionCoeff=0.000)`