[algorithm] Remove projection operation on tip

[th-skam]

It is not doing anything except computing the distance between two points, which we are not using.
Based on #88

[epernod]

the

[epernod]

are you sure this normalization was never useful for the rest of the algo?

if yes, ok for me. Let's double check ci as well.

[th-skam]

Yes, it does nothing. Check the implementation:

CollisionAlgorithm/src/CollisionAlgorithm/proximity/PointProximity.h

Lines 45 to 47 in d758a81

	bool isNormalized() const override { return true; }
	void normalize() override {}

normalize() is empty and isNormalized() always returns true.

[epernod]

hum... and is it normal that it is empty?

[th-skam]

Yes it should be because the normalization simply corrects the projection by placing the proximity inside the simplex. I guess it's there because the projection can in fact shoot the new point outside the simplex. But the PointProximity is the most trivial case. Projecting on a point simply means "use that point".

Check the EdgeProximity implementation:

CollisionAlgorithm/src/CollisionAlgorithm/proximity/EdgeProximity.h

Lines 66 to 78 in d758a81

	bool isNormalized() const override {
	// if (m_f0+m_f1 != 1.0) return false;
	return m_f0>=0 && m_f0<=1 &&
	m_f1>=0 && m_f1<=1;
	}
	void normalize() override {
	if (m_f1<0.0) m_f1 = 0.0;
	else if (m_f1>1.0) m_f1 = 1.0;
	m_f0 = 1.0-m_f1;
	}

m_f0 and m_f1 are the bary coords.