[algorithm] Using coupling points to (en|dis)able collision with the needle shaft (#79)

th-skam · web-flow · commit ebd68b832fbb · 2025-09-01T10:31:58.000+02:00
diff --git a/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h b/src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h
@@ -178,7 +178,7 @@ class InsertionAlgorithm : public BaseAlgorithm
             }
 
             // 1.3 Collision with the shaft geometry
-            if (collisionOutput.size())
+            if (m_couplingPts.empty())
             {
                 auto createShaftProximity =
                     Operations::CreateCenterProximity::Operation::get(l_shaftGeom->getTypeInfo());

Original file line number	Diff line number	Diff line change
`@@ -178,7 +178,7 @@ class InsertionAlgorithm : public BaseAlgorithm`
`178`	`178`	`}`
`179`	`179`
`180`	`180`	`// 1.3 Collision with the shaft geometry`
`181`		`- if (collisionOutput.size())`
	`181`	`+ if (m_couplingPts.empty())`
`182`	`182`	`{`
`183`	`183`	`auto createShaftProximity =`
`184`	`184`	`Operations::CreateCenterProximity::Operation::get(l_shaftGeom->getTypeInfo());`