# iMSTK - Interactive Medical Simulation Toolkit
* [About](#about)
  * [Overview](#overview)
  * [Participants](#participants)
  * [Licensing](#licensing)
* [Resources](#resources)
  * [Documentation](#documentation)
  * [Discourse](#discourse)
  * [Issue tracker](#issue-tracker)
* [Prerequisites](#prerequisites)
* [Getting started with iMSTK](#getting-started-with-imstk)
  * [Getting the source code](#1-getting-the-source-code)
  * [Setting up your SSH key](#2-setting-up-your-ssh-key)
  * [Building iMSTK](#3-building-imstk)

## About
### Overview
[iMSTK](https://www.imstk.org/) is a C++ based free & open-source toolkit that aids rapid prototyping of real-time multi-modal surgical simulation scenarios. Surgical simulation scenarios involve algorithms from areas such as haptics, advanced rendering, computational geometry, computational mechanics, virtual reality and parallel computing. iMSTK employs a highly modular and extensible design to enable the use of libraries and codes from these areas in a given application thereby reducing the development time.

### Participants
- [Kitware, Inc.](http://www.kitware.com/)
- [CeMSIM-Rensselaer Polytechnic Institute](http://cemsim.rpi.edu/)
- [University of Central Arkansas](http://sun0.cs.uca.edu/~thalic/virasim.html)

### Funding support:
This project is supported in part by the following grants [9R44OD018334](https://www.sbir.gov/sbirsearch/detail/1032259), [1R44EB019802](https://www.sbir.gov/sbirsearch/detail/1047037), [1R44AR075481](https://projectreporter.nih.gov/project_info_details.cfm?aid=9777225&icde=50531419) , [1R01EB025247](https://projectreporter.nih.gov/project_info_details.cfm?aid=9738646&icde=50531433), [2R44DK115332](https://projectreporter.nih.gov/project_info_details.cfm?aid=9843084&icde=50531443)

Disclaimer: The content is solely the responsibility of the authors and does not necessarily represent the official views of the NIH and its institutes.

### Licensing
iMSTK is licensed under [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0.txt)

## Resources
### Documentation
Click [here](https://imstk.readthedocs.io/en/latest/) for detailed documentation.

### Dashboard
Click [here](https://open.cdash.org/index.php?project=iMSTK) for nightly build & MR results.

### Discourse
The iMSTK Users and Developers can post questions and discuss relevant topics at the [Discourse](https://discourse.kitware.com/c/imstk).

### Issue-tracker
Designed more specifically for developers, the issue tracker allows developers to list and discuss issues & enhancements:
>https://gitlab.kitware.com/iMSTK/iMSTK/issues

*Assign labels to the issues. The description of each label can be found [HERE](https://gitlab.kitware.com/iMSTK/iMSTK/labels).*

<a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=bug"><span class="label color-label " style="background-color: #cc0033; color: #FFFFFF" title="Report an error at runtime" >bug</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=compilation"><span class="label color-label " style="background-color: #cc0033; color: #FFFFFF" title="Report an error during compilation" >compilation</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=critical"><span class="label color-label " style="background-color: #ff0000; color: #FFFFFF" title="Issue that should require the developers main focus" >critical</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=enhancement"><span class="label color-label " style="background-color: #5cb85c; color: #FFFFFF" title="Suggest an enhancement you believe is needed (new features...)" >enhancement</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=optimization"><span class="label color-label " style="background-color: #5cb85c; color: #FFFFFF" title="Report a slow process and possibly offer ideas to optimize it" >optimization</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=clean+up"><span class="label color-label " style="background-color: #428bca; color: #FFFFFF" title="Suggestions to improve the code style" >clean up</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=refactor"><span class="label color-label " style="background-color: #428bca; color: #FFFFFF" title="Suggest a better way to implement a certain feature" >refactor</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=testcase"><span class="label color-label " style="background-color: #ffecdb; color: #333333" title="Suggestion/issue related to a test or example within the project" >testcase</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=visualization"><span class="label color-label " style="background-color: #ffecdb; color: #333333" title="Suggestion/issue related to a visualization feature" >visualization</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=mechanics"><span class="label color-label " style="background-color: #ffecdb; color: #333333" title="Suggestion/issue related to a mechanics feature" >mechanics</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=device"><span class="label color-label " style="background-color: #ffecdb; color: #333333" title="Suggestion/issue related to a device feature" >device</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=documentation"><span class="label color-label " style="background-color: #f0ad4e; color: #FFFFFF" title="Report an issue/requirement that is related to documentation (code, project...)" >documentation</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=support"><span class="label color-label " style="background-color: #f0ad4e; color: #FFFFFF" title="Report an issue/requirement that is related to support (dashboard, mailing list, website...)" >support</span></a> <a href="https://gitlab.kitware.com/iMSTK/iMSTK/issues?label_name%5B%5D=discussion"><span class="label color-label " style="background-color: #8e44ad; color: #FFFFFF" title="Start a discussion about a certain topic that requires other users and developers input" >discussion</span></a>

## Prerequisites
* Git
* Git LFS
* Python (if using Uncrustify, default on)
* CMake 3.15 or higher

##### On Linux:

```bash
sudo apt-get install build-essential libgl1-mesa-dev libxt-dev libusb-1.0-0-dev git-lfs
```

## Getting started with iMSTK
### 1. Getting the source code
To be able to contribute back to the iMSTK project, the preferred way is to use [Git] for code version control. You can use the following command in the terminal for Linux/macOS, or in [Git Bash] for Windows.
```sh
git clone git@gitlab.kitware.com:iMSTK/iMSTK.git
```

### 2. Setting up your SSH key
The build process will check out external dependency sources with the SSH protocol to avoid manually entering credentials during the build process. To allow this, make sure you set up your ssh key in your profile [HERE](https://gitlab.kitware.com/profile/keys). You can find documentation on how to generate and retrieve your public ssh key [HERE](https://gitlab.kitware.com/help/ssh/README).

### 3. Building iMSTK
We use [CMake] to configure the project on every platform. See how to run it [HERE](https://cmake.org/runningcmake/).
* ##### On Linux/macOS
Type the following commands from the same location you cloned the code. This will configure the build in a directory adjacent to the source directory. To easily change some configuration variables like `CMAKE_BUILD_TYPE`, use `ccmake` instead of `cmake`.
```sh
mkdir iMSTK-build
cd iMSTK-build
cmake ../iMSTK #/path/to/source/directory
make -j4 #to build using 4 cores
```
You can also use [Ninja] for a faster build instead of Unix Makefiles. To do so, configure the cmake project with `-GNinja`:
```
cmake -GNinja ../iMSTK
ninja
```
This will checkout, build and link all iMSTK dependencies. When making changes to iMSTK [base source code](/Base), you can then build from the `Innerbuild` directory.

* ##### On Windows
Run CMake-GUI and follow the directions described [HERE](https://cmake.org/runningcmake/). You will have to choose which version of Visual Studio you'd like to use when configuring the project, make sure to select **Microsoft Visual Studio C++ 15 2017 or 2019**. CMake will generate a `iMSTK.sln` solution file for Visual Studio at the top level. Open this file and build all targets, which will checkout, build and link all iMSTK dependencies. When making changes to iMSTK [base source code](/Base), you can then build from the `iMSTK.sln` solution file located in the `Innerbuild` directory.
If you would like to build on multiple cores add /MP[N] to CMAKE_CXX_FLAGS in CMake-GUI, where N is optional representing the number of cores (without N supplied, the build will use as many cores as available on the device).
If you check out the unit tests or the examples make sure to run `git install lfs` to make sure that `git lfs` is installed.

* ##### PhysX Support
Please note, we are currently deprecating PhysX support, by default PhysX will be OFF but can be turned on via `iMSTK_USE_PHYSX` in  the CMAKE configuration

PhysX supports multiple build configurations, designed for different stages of development and deployment.
  * The DEBUG build can be useful for error analysis, but contains asserts used for SDK development which some customers may find too intrusive for daily use. Optimizations are turned off for this configuration.
  * The CHECKED build contains code to detect invalid parameters, API race conditions, and other incorrect uses of the API which might otherwise cause mysterious crashes or failures in simulation.
  * The PROFILE build omits the checks, but still has PVD and memory instrumentation.
  * The RELEASE build is built for minimal footprint and maximum speed. It omits most checks and instrumentation.

  
Simulation works the same way in all of them, and all are compiled with high optimization levels (except debug configuration).

Due to the fluid nature of development and the need to easily switch between these different configurations, the iMSTK superbuild will build ALL of these configurations, regardless of the provided BUILD_TYPE.
The iMSTK superbuild provides a CMake variable iMSTK_PHYSX_CONFIGURATION for you to specify the PhysX configuration it will use when building both Release and RelWithDebugInfo configurations
Using this variable, you may select RELEASE, CHECKED, or PROFILE, and iMSTK will link to those libraries.
Debug iMSTK builds will always link to the DEBUG PhysX libraries.
By default, RELEASE libraries will be used.

**Note We strongly recommend that you use the CHECKED build if you are developing new PhysX functionality in iMSTK.**

Once the superbuild is complete, you may also switch the PhysX library of the Innerbuild by selecting the desired configuration via the PHYSX_CONFIGURATION variable and regenerating the InnerBuild via CMake.

* ##### Phantom Omni Support
To support the [Geomagic Touch (formerly Sensable Phantom Omni)](http://www.geomagic.com/en/products/phantom-omni/overview) haptic device, follow the steps below:
  1. Install the [OpenHaptics] SDK as well as the device drivers:
       - for [Windows](https://3dsystems.teamplatform.com/pages/102774?t=r4nk8zvqwa91)
       - for [Linux](https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc)
  2. Reboot your system.
  3. Configure your CMake project with the variable `iMSTK_USE_OpenHaptics` set to `ON`.
  4. After configuration, the CMake variable `OPENHAPTICS_ROOT_DIR` should be set to the OpenHaptics path on your system.
  
* ##### VRPN Support

The `VRPNDeviceModule` enables access to a large number devices supported by VRPN. The `VRPNDeviceModule` expects a `vrpn_server` to be running. The iMSTK superbuild builds and
installs a server with some default settings but if you want to configure a specific server
it might be easier to separately build a server. The file `CMake\External\External_VRPN.cmake`
shows how to pass configuration into VRPN in case you want to modify the modules enabled and
disabled by the build

The `vrpn.cfg` that is installed by default doesn't have any devices enabled, before use you 
will need to uncomment the devices that you would like to use. If you use the one inside the 
iMSTK install directory please note that it will be overwritten every time the superbuild is 
run. 

Currently iMSTK supports VRPN `Analog`, `Button` and `Tracker` devices. Future support will
depend on user demand.

* ##### Offscreen Rendering
To render without the usage of a GPU or without the usage of a screen on linux (or WSL), iMSTK's VTK renderer may be built with OSMesa.
  1. Install osmesa libraries via:
```bash
sudo apt install mesa-common-dev libosmesa6-dev libglu1-mesa-dev`
```
  2. Set `iMSTK_USE_VTK_OSMESA` to `ON`
  3. Proceed to build iMSTK

---
[NIH-OD]: <https://www.nih.gov/about-nih/what-we-do/nih-almanac/office-director-nih>
[NIH-NIBIB]: <https://www.nibib.nih.gov/>
[Rensselaer Polytechnic Institute]: <www.rpi.edu>
[Kitware, Inc.]: <www.kitware.com>
[Git Bash]: <https://git-for-windows.github.io/>
[Git]: <https://git-scm.com>
[CMake]: <https://cmake.org>
[Ninja]: <https://ninja-build.org/>
[OpenHaptics]: <http://www.geomagic.com/en/products/open-haptics/overview/>
