From 04ac0958207fda43e540f206f45fdd5b2e89b678 Mon Sep 17 00:00:00 2001 From: Themis Skamagkis Date: Fri, 29 May 2026 11:39:15 +0200 Subject: [PATCH] [algorithm] Adapt to contactDistance parameter in scene --- examples/NeedleInsertion.py | 2 +- examples/NeedleInsertionCycles.py | 2 +- examples/NeedleInsertionHaptics.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/NeedleInsertion.py b/examples/NeedleInsertion.py index c813262..d832c17 100644 --- 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 index 2b3cb85..7a64803 100644 --- 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 index e0a43da..eef1219 100644 --- 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)