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[operations] Robustify retraction detection check using tip velocity #117

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Merged
epernod merged 3 commits into from
May 29, 2026
Merged

[operations] Robustify retraction detection check using tip velocity #117

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0c15a9e
[operations] Robustify retraction detection check using tip velocity
th-skam May 29, 2026
25d0db3
[operations] Invert bool return from pruning operations
th-skam May 29, 2026
1222f7e
Put method description into header file
epernod May 29, 2026
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8 changes: 7 additions & 1 deletion src/CollisionAlgorithm/operations/NeedleOperations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ namespace sofa::collisionalgorithm::Operations::Needle
bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
const EdgeElement::SPtr& edge)
{
if (!edge)
if (!edge)
{
msg_warning("Needle::PrunePointsAheadOfTip")
<< "Null element pointer in prunePointsUsingEdges; returning false";
Expand All @@ -16,6 +16,12 @@ bool prunePointsUsingEdges(std::vector<BaseProximity::SPtr>& couplingPts,
const type::Vec3 tip(edge->getP1()->getPosition());
const type::Vec3 edgeDirection = tip - edgeBase;

// Only prune if the tip is retracting (moving against the insertion direction).
// NOTE: This uses the needle tip velocity only. If retraction results from needle-tissue
// relative movement, retraction is not detected.
const type::Vec3 tipVelocity = edge->getP1()->getVelocity();
if (dot(tipVelocity, edgeDirection) >= 0_sreal) return true;
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const int initSize = couplingPts.size();

while(!couplingPts.empty())
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