[algorithm] Refactor: Add sanity checks and failproof (#49)

* [algorithm] check whether a constraint solver is found in the context at init

* [algorithm] check whether user provided acceptable values for thresholds used by the algorithm

* [algorithm] sum all lambda values applied on the tipGeom mstate

Still better to iterate and sum than accessing the first value (->[0]). It also
makes sense in case one defines the tip as a collection of points (in case the
needle has thickness).

* [algorithm] Distinguish execution flow between puncture and insertion based on m_couplingPts.empty

* Apply changes #1

Co-authored-by: erik pernod <erik.pernod@gmail.com>

* Apply changes #2

Co-authored-by: erik pernod <erik.pernod@gmail.com>

* Apply changes #3

Co-authored-by: erik pernod <erik.pernod@gmail.com>

* Apply change #4 - Style

Co-authored-by: erik pernod <erik.pernod@gmail.com>

---------

Co-authored-by: erik pernod <erik.pernod@gmail.com>

Author: th-skam

src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h

@@ -48,13 +48,11 @@ class InsertionAlgorithm : public BaseAlgorithm
           d_projective(initData(
               &d_projective, false, "projective",
               "Projection of closest detected proximity back onto the needle tip element.")),
-          d_punctureForceThreshold(initData(&d_punctureForceThreshold,
-                                            std::numeric_limits<double>::max(),
+          d_punctureForceThreshold(initData(&d_punctureForceThreshold, -1_sreal,
                                             "punctureForceThreshold",
                                             "Threshold for the force applied to the needle tip. "
                                             "Once exceeded, puncture is initiated.")),
-          d_tipDistThreshold(initData(&d_tipDistThreshold, std::numeric_limits<double>::min(),
-                                      "tipDistThreshold",
+          d_tipDistThreshold(initData(&d_tipDistThreshold, -1_sreal, "tipDistThreshold",
                                       "Threshold for the distance advanced by the needle tip since "
                                       "the last proximity detection. Once exceeded, a new "
                                       "proximity pair is added for the needle-volume coupling.")),
@@ -72,6 +70,24 @@ class InsertionAlgorithm : public BaseAlgorithm
     {
         BaseAlgorithm::init();
         this->getContext()->get<ConstraintSolver>(m_constraintSolver);
+        msg_warning_when(!m_constraintSolver)
+            << "No constraint solver found in context. Insertion algorithm is disabled.";
+
+        if (d_punctureForceThreshold.getValue() < 0)
+        {
+            msg_warning() << d_punctureForceThreshold.getName() +
+                                 " parameter not defined or set to negative value." msgendl
+                          << "Puncture will not function properly; provide a positive value";
+            d_punctureForceThreshold.setValue(std::numeric_limits<double>::max());
+        }
+
+        if (d_tipDistThreshold.getValue() < 0)
+        {
+            msg_warning() << d_tipDistThreshold.getName() +
+                                 " parameter not defined or set to negative value." msgendl
+                          << "Needle-volume coupling is disabled; provide a positive value";
+            d_tipDistThreshold.setValue(std::numeric_limits<double>::max());
+        }
     }
 
     void draw(const core::visual::VisualParams* vparams)
@@ -106,14 +122,18 @@ class InsertionAlgorithm : public BaseAlgorithm
         auto& collisionOutput = *d_collisionOutput.beginEdit();
         auto& insertionOutput = *d_insertionOutput.beginEdit();
 
-        if (insertionOutput.size() == 0)
+        if (m_couplingPts.empty())
         {
             const MechStateTipType::SPtr mstate = l_tipGeom->getContext()->get<MechStateTipType>();
             if (m_constraintSolver)
             {
                 const auto& lambda =
                     m_constraintSolver->getLambda()[mstate.get()].read()->getValue();
-                if (lambda[0].norm() > d_punctureForceThreshold.getValue())
+                SReal norm{0_sreal};
+                for (const auto& l : lambda) {
+                    norm += l.norm();
+                }
+                if (norm > d_punctureForceThreshold.getValue())
                 {
                     auto findClosestProxOnShaft =
                         Operations::FindClosestProximity::Operation::get(l_shaftGeom);