Repository navigation

[src] Use a force-based constraint resolution and integration framework for needle insertion - #121

Open

th-skam wants to merge 19 commits into

Commits on Oct 9, 2026
- [examples] Remove the impulseBased flag
  th-skam
  committed
  de5d4a3
- [src] Add check for impulse conversion in InsertionAlgorithm
  th-skam
  committed
  895d4eb
- [examples] Set needle to 2nd order
  th-skam
  committed
  288e223
- Use vertexMass instead of totalMass for the needle
  th-skam
  committed
  c2a8956
- Lighten needle
  th-skam
  committed
  e0cf3ed
- Adjust density of tissue
  th-skam
  committed
  be72e69
- Apply physical parameters to scenes
  th-skam
  committed
  71c1d5e
- Adjust puncture threshold
  th-skam
  committed
  2e192b7
- Adjust needle initial pose
  th-skam
  committed
  238bb03
- Put dt to 0.01 again
  th-skam
  committed
  e2dfcf1
- restore recorded states
  th-skam
  committed
  f91ca33
- Correct initial pose
  th-skam
  committed
  9c4feae
- Adjust trajectory
  th-skam
  committed
  f10c35e
- Fix bad angular stiffness and non-unit quaternion
  th-skam
  committed
  a4b8c5a
- Fix orientation of needle
  th-skam
  committed
  47c677f
- Reduce needle masses
  th-skam
  committed
  7dff8d1
- Fix haptics soft needle
  th-skam
  committed
  084763b
- Adjust forceCoef
  th-skam
  committed
  2e202b7
- Apply proper transformation for rigid frames and the needle
  th-skam
  committed
  d9f9285