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…st first and last states
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All scenes have been adjusted to the new integration schemes of SOFA.
The
InsertionAlgorithmhas been equipped with a check to determine whether the integration schemes employ an impulse- or force-based approach.Our current setups are incompatible with the force-based approach because we use 1st order schemes for the needle and 2nd order schemes for the tissues. When this is done, the compliance matrices generated in these nodes are expressed in different units, so the old behaviour cannot be recovered.
So in this PR I switched to 2nd order schemes for the needle. It's still experimental as this makes the needle mass have a bigger impact in the scene. However, the scenes are stable.
I took the opportunity to put more natural physical parameters for the tissues and needle.