Merge branch 'AssimpBugFix' into 'master'

BUG: Ignore segments in triangle mesh reading

See merge request iMSTK/iMSTK!685

Source/CollisionDetection/Testing/imstkCollisionDataTest.cpp

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
 #include "gtest/gtest.h"
 
 #include "imstkCollisionData.h"
 
 using namespace imstk;
 
-namespace {
+namespace
+{
 }
 
 struct imstkCollisionElementTest : public ::testing::Test
 {
     imstkCollisionElementTest()
     {
-        cv.pts[0] = Vec3d{ 1,2,3 };
-        cv.pts[1] = Vec3d{ 2,3,4 };
-        cv.pts[2] = Vec3d{ 3,4,5 };
-        cv.pts[3] = Vec3d{ 4,5,6 };
-        cv.size = 10;
-
-        ci.ids[0] = 7;
-        ci.ids[1] = 8;
-        ci.ids[2] = 9;
-        ci.ids[3] = 10;
-        ci.idCount = 11;
+        cv.pts[0] = Vec3d{ 1, 2, 3 };
+        cv.pts[1] = Vec3d{ 2, 3, 4 };
+        cv.pts[2] = Vec3d{ 3, 4, 5 };
+        cv.pts[3] = Vec3d{ 4, 5, 6 };
+        cv.size   = 10;
+
+        ci.ids[0]   = 7;
+        ci.ids[1]   = 8;
+        ci.ids[2]   = 9;
+        ci.ids[3]   = 10;
+        ci.idCount  = 11;
         ci.cellType = IMSTK_VERTEX;
 
-        pd.pt = Vec3d{ 2,3,4 };
-        pd.dir = Vec3d{ 4,5,6 };
+        pd.pt  = Vec3d{ 2, 3, 4 };
+        pd.dir = Vec3d{ 4, 5, 6 };
         pd.penetrationDepth = 12.0;
 
         pi.ptIndex = 13;
-        pi.dir = Vec3d{ 3,4,5 };
+        pi.dir     = Vec3d{ 3, 4, 5 };
         pi.penetrationDepth = 2.0;
     };
 
@@ -62,7 +84,7 @@ TEST_F(imstkCollisionElementTest, Constructor)
         EXPECT_EQ(CollisionElementType::PointDirection, e.m_type);
         EXPECT_EQ(pd.dir, e.m_element.m_PointDirectionElement.dir);
         EXPECT_EQ(pd.penetrationDepth, e.m_element.m_PointDirectionElement.penetrationDepth);
-    } 
+    }
     {
         CollisionElement e(pi);
         EXPECT_EQ(CollisionElementType::PointIndexDirection, e.m_type);

Source/Common/imstkMath.h

@@ -109,7 +109,7 @@ using Mat3d = Eigen::Matrix<double, 3, 3>;
 using StdVectorOfMat3d = std::vector<Mat3d, Eigen::aligned_allocator<Mat3d>>;
 
 // 4x4 Matrix
-using Mat4f = Eigen::Matrix<float, 4, 4> ;
+using Mat4f = Eigen::Matrix<float, 4, 4>;
 using Mat4d = Eigen::Matrix<double, 4, 4>;
 
 /// A dynamic size matrix of floats

Source/Devices/imstkHapticDeviceClient.h

@@ -79,7 +79,7 @@ private:
     /// \brief Phantom omni device api callback
     ///
 #ifndef HDCALLBACK
-#define HDCALLBACK    
+#define HDCALLBACK
 #endif
     typedef unsigned int HDCallbackCode;
     static HDCallbackCode HDCALLBACK hapticCallback(void* pData);

Source/MeshIO/imstkAssimpMeshIO.cpp

@@ -81,8 +81,8 @@ AssimpMeshIO::convertAssimpMesh(aiMesh* importedMesh)
     auto mesh = std::make_shared<SurfaceMesh>(std::string(importedMesh->mName.C_Str()));
 
     // Get mesh information
-    auto numVertices  = importedMesh->mNumVertices;
-    auto numTriangles = importedMesh->mNumFaces;
+    auto numVertices = importedMesh->mNumVertices;
+    auto numFaces    = importedMesh->mNumFaces;
 
     if (numVertices == 0)
     {
@@ -103,17 +103,20 @@ AssimpMeshIO::convertAssimpMesh(aiMesh* importedMesh)
     }
 
     // Triangles
-    std::shared_ptr<VecDataArray<int, 3>> trianglesPtr = std::make_shared<VecDataArray<int, 3>>(numTriangles);
-    VecDataArray<int, 3>&                 triangles    = *trianglesPtr;
+    auto trianglesPtr = std::make_shared<VecDataArray<int, 3>>();
+    trianglesPtr->reserve(numFaces);
+    VecDataArray<int, 3>& triangles = *trianglesPtr;
 
-    for (unsigned int i = 0; i < numTriangles; i++)
+    for (unsigned int i = 0; i < numFaces; i++)
     {
-        auto triangle = importedMesh->mFaces[i];
-        auto indices  = triangle.mIndices;
-        triangles[i][0] = indices[0];
-        triangles[i][1] = indices[1];
-        triangles[i][2] = indices[2];
+        aiFace        triangle = importedMesh->mFaces[i];
+        unsigned int* indices  = triangle.mIndices;
+        if (triangle.mNumIndices == 3) // Only supports triangles
+        {
+            triangles.push_back(Vec3i(indices[0], indices[1], indices[2]));
+        }
     }
+    trianglesPtr->squeeze();
 
     // Vertex normals, tangents, and bitangents
     std::shared_ptr<VecDataArray<double, 3>> normalsPtr    = std::make_shared<VecDataArray<double, 3>>(numVertices);

Source/Scene/imstkScene.h

@@ -185,8 +185,7 @@ public:
     ///
     /// \brief Get and unordered map of cameras with names
     ///
-    const std::unordered_map<std::string, std::shared_ptr<Camera>>& 
-    getCameras() const { return m_cameras; }
+    const std::unordered_map<std::string, std::shared_ptr<Camera>>& getCameras() const { return m_cameras; }
 
     ///
     /// \brief Add light from the scene