diff --git a/CMakeLists.txt b/CMakeLists.txt
index 58c7030918f8a11e142e7c88f492b2a8f9b53799..c742016207820cac157f6969796e2d5648feb1c5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -371,7 +371,6 @@ add_subdirectory(Source/CollisionDetection)
add_subdirectory(Source/CollisionHandling)
add_subdirectory(Source/Scene)
add_subdirectory(Source/SimulationManager)
-add_subdirectory(Source/apiUtilities)
add_subdirectory(Source/Filtering)
add_subdirectory(Source/FilteringCore)
diff --git a/Examples/BoneShaving/CMakeLists.txt b/Examples/BoneShaving/CMakeLists.txt
index be6b047dfb1ac1f3d083b81b965095c9138309f6..f5951b4c7d0a6f4ac71c05f4500202a9c295a264 100644
--- a/Examples/BoneShaving/CMakeLists.txt
+++ b/Examples/BoneShaving/CMakeLists.txt
@@ -36,11 +36,10 @@ if(iMSTK_USE_OpenHaptics)
if(UNIX)
target_link_libraries(${PROJECT_NAME}
SimulationManager
- apiUtilities)
+ )
else()
target_link_libraries(${PROJECT_NAME}
SimulationManager
- apiUtilities
SFML)
endif()
diff --git a/Examples/CameraController/CMakeLists.txt b/Examples/CameraController/CMakeLists.txt
index 797e223819a63eb3c25cc1e87e6d73669c94ddf5..e3ae4737fdd8a87228abcfee79493899f43255d8 100644
--- a/Examples/CameraController/CMakeLists.txt
+++ b/Examples/CameraController/CMakeLists.txt
@@ -32,7 +32,7 @@ if(iMSTK_USE_OpenHaptics)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
- target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+ target_link_libraries(${PROJECT_NAME} SimulationManager)
#-----------------------------------------------------------------------------
# Associate external data
diff --git a/Examples/CollisionDetection/ManualCDWithOctree/CMakeLists.txt b/Examples/CollisionDetection/ManualCDWithOctree/CMakeLists.txt
index 743d27f306899765bf4ae373a5a262e7edb7223d..6e0a1accc3fba72480f10dd137a52bc0d78fd94d 100644
--- a/Examples/CollisionDetection/ManualCDWithOctree/CMakeLists.txt
+++ b/Examples/CollisionDetection/ManualCDWithOctree/CMakeLists.txt
@@ -35,4 +35,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/CreateEnclosingMesh/CMakeLists.txt b/Examples/CreateEnclosingMesh/CMakeLists.txt
index 9c658349190c5181992b7fa427f6f5a02b2b9995..a3174ed8621dc50b0b6950b66eb53ddb964bad1d 100644
--- a/Examples/CreateEnclosingMesh/CMakeLists.txt
+++ b/Examples/CreateEnclosingMesh/CMakeLists.txt
@@ -31,5 +31,5 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} apiUtilities)
+target_link_libraries(${PROJECT_NAME} Common SimulationManager SceneEntities)
diff --git a/Examples/DebugRendering/CMakeLists.txt b/Examples/DebugRendering/CMakeLists.txt
index fd3197b4324d534d35b687584f839f83cc99082e..eb4ecf407207a52ddc5dec57590b0062d9eba0ec 100644
--- a/Examples/DebugRendering/CMakeLists.txt
+++ b/Examples/DebugRendering/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/DeformableBody/CMakeLists.txt b/Examples/DeformableBody/CMakeLists.txt
index 50396605859e9d05a4a594f824c0093bce057bea..104d32fcb54a1d3d184ebaa053904dbfffb9e8f7 100644
--- a/Examples/DeformableBody/CMakeLists.txt
+++ b/Examples/DeformableBody/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/GeometryProcessing/CMakeLists.txt b/Examples/GeometryProcessing/CMakeLists.txt
index 0abe14903b4ffbda995eaa3d783c1fe8e8f9b060..3baf12ddbefe20d04f5f0b25d372b217a70ab35b 100644
--- a/Examples/GeometryProcessing/CMakeLists.txt
+++ b/Examples/GeometryProcessing/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities Filtering)
+target_link_libraries(${PROJECT_NAME} SimulationManager Filtering)
diff --git a/Examples/GeometryTransforms/CMakeLists.txt b/Examples/GeometryTransforms/CMakeLists.txt
index 412eb8054a4baf51461059ba010f56e384c840ab..fdd23f2a232c1c652b128173f7be4f5163f67648 100644
--- a/Examples/GeometryTransforms/CMakeLists.txt
+++ b/Examples/GeometryTransforms/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/GeometryTransforms/GeometryTransformsExample.cpp b/Examples/GeometryTransforms/GeometryTransformsExample.cpp
index 287d5f2e74c974c33fda3a290ab23458a5e6451c..e5ad0e3b10b3e04d7c52325118dec0e3d10c919c 100644
--- a/Examples/GeometryTransforms/GeometryTransformsExample.cpp
+++ b/Examples/GeometryTransforms/GeometryTransformsExample.cpp
@@ -19,7 +19,6 @@
=========================================================================*/
-#include "imstkAPIUtilities.h"
#include "imstkCamera.h"
#include "imstkCylinder.h"
#include "imstkKeyboardSceneControl.h"
@@ -29,6 +28,8 @@
#include "imstkNew.h"
#include "imstkOrientedBox.h"
#include "imstkPlane.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkMeshIO.h"
#include "imstkRenderMaterial.h"
#include "imstkScene.h"
#include "imstkSceneManager.h"
@@ -50,9 +51,11 @@ main()
imstkNew<Scene> scene("GeometryTransforms");
- auto sceneObj = apiutils::createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj", "Dragon");
-
- CHECK(sceneObj != nullptr) << "ERROR: Unable to create scene object";
+ // Create object and add to scene
+ auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj"));
+ auto sceneObj = std::make_shared<SceneObject>("Dragon");
+ sceneObj->setVisualGeometry(SurfaceMesh);
+ scene->addSceneObject(sceneObj);
auto surfaceMesh = sceneObj->getVisualGeometry();
surfaceMesh->scale(5.0, Geometry::TransformType::ConcatenateToTransform);
diff --git a/Examples/ObjectController/CMakeLists.txt b/Examples/ObjectController/CMakeLists.txt
index bbc831bfa99783eb1a1b9f7ab0a8e5d2c04cc904..f4d400d5f9692db43fdb45bc9152ffb0cae2b16a 100644
--- a/Examples/ObjectController/CMakeLists.txt
+++ b/Examples/ObjectController/CMakeLists.txt
@@ -32,6 +32,6 @@ if(iMSTK_USE_OpenHaptics)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
- target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+ target_link_libraries(${PROJECT_NAME} SimulationManager)
endif()
diff --git a/Examples/ObjectControllerDummyClient/CMakeLists.txt b/Examples/ObjectControllerDummyClient/CMakeLists.txt
index 248fcb43e92de330435e351caefe1535b34be35f..1448cc63809246d6a6f9b60c23c92214e5436600 100644
--- a/Examples/ObjectControllerDummyClient/CMakeLists.txt
+++ b/Examples/ObjectControllerDummyClient/CMakeLists.txt
@@ -31,5 +31,5 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/Octree/CMakeLists.txt b/Examples/Octree/CMakeLists.txt
index bfca94999d5deef6665950fcfb4a78d6b1db28ed..98f95d91c51ed5fdcfd3c6886a934b6bb65e6017 100644
--- a/Examples/Octree/CMakeLists.txt
+++ b/Examples/Octree/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/PBD/PBDCloth/CMakeLists.txt b/Examples/PBD/PBDCloth/CMakeLists.txt
index 8e1aec6197321a303041ca440844ba24046b06c0..db0500ae60a96a5b9a40d1eea59f4d03a3ad1026 100644
--- a/Examples/PBD/PBDCloth/CMakeLists.txt
+++ b/Examples/PBD/PBDCloth/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt b/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
index 6d57c6b7095ef29940aae9a751ae7fb092eaf1da..8466f312f928e63364ec53aef7a802d7aaad5951 100644
--- a/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
+++ b/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities )
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/PBD/PBDCollisionOneObject/CMakeLists.txt b/Examples/PBD/PBDCollisionOneObject/CMakeLists.txt
index 2e02b86646e8c08ce7d1b5628166fd61ae2c85a1..d6454dd97fa2a5a9be48e359e23f830453e562a9 100644
--- a/Examples/PBD/PBDCollisionOneObject/CMakeLists.txt
+++ b/Examples/PBD/PBDCollisionOneObject/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/PBD/PBDCollisionStairs/CMakeLists.txt b/Examples/PBD/PBDCollisionStairs/CMakeLists.txt
index c0c0bf8fc598af7500482dcb3023681a556d4e33..e0c408bb07cf6a667f60f2442168e52b41577fc8 100644
--- a/Examples/PBD/PBDCollisionStairs/CMakeLists.txt
+++ b/Examples/PBD/PBDCollisionStairs/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
\ No newline at end of file
+target_link_libraries(${PROJECT_NAME} SimulationManager)
\ No newline at end of file
diff --git a/Examples/PBD/PBDDeformableObject/CMakeLists.txt b/Examples/PBD/PBDDeformableObject/CMakeLists.txt
index b677e9e8f04d309e2c1644f115c88f2c84f84902..022b4d101b55cfd1e88e3825223e4eedf6ee03d3 100644
--- a/Examples/PBD/PBDDeformableObject/CMakeLists.txt
+++ b/Examples/PBD/PBDDeformableObject/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/PBDCutting/CMakeLists.txt b/Examples/PBDCutting/CMakeLists.txt
index a2aff794533c4c81eed61e23e58e45c4b97ec27f..573401da589c9f93e3bd4f2b8481694c474c0d00 100644
--- a/Examples/PBDCutting/CMakeLists.txt
+++ b/Examples/PBDCutting/CMakeLists.txt
@@ -32,6 +32,6 @@ if(iMSTK_USE_OpenHaptics)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
- target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities Filtering)
+ target_link_libraries(${PROJECT_NAME} SimulationManager Filtering)
endif()
diff --git a/Examples/PBDPicking/CMakeLists.txt b/Examples/PBDPicking/CMakeLists.txt
index 17355b81fce860db0699f5899fb289f6b03935e5..26b5faa8ee59c773595d5a302c195dd1e4905de8 100644
--- a/Examples/PBDPicking/CMakeLists.txt
+++ b/Examples/PBDPicking/CMakeLists.txt
@@ -32,6 +32,6 @@ if(iMSTK_USE_OpenHaptics)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
- target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+ target_link_libraries(${PROJECT_NAME} SimulationManager)
endif()
diff --git a/Examples/RCM/CMakeLists.txt b/Examples/RCM/CMakeLists.txt
index 10814d1f326c1b66b7f90cadc02a73cca99537a4..2163379bb93477cf33011e9ec54f05484a1710b0 100644
--- a/Examples/RCM/CMakeLists.txt
+++ b/Examples/RCM/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} apiUtilities)
+target_link_libraries(${PROJECT_NAME} Common SceneEntities)
diff --git a/Examples/Rendering/CMakeLists.txt b/Examples/Rendering/CMakeLists.txt
index badbc676327941df19c9222ecea11c4f8dc7277d..b0b6a0069756c95bf5a2bf5b02f8d6c94f841768 100644
--- a/Examples/Rendering/CMakeLists.txt
+++ b/Examples/Rendering/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/Rendering/RenderingExample.cpp b/Examples/Rendering/RenderingExample.cpp
index 90633cd4efe11c285c215f14e457b65cf5b4bc6a..9bad64fda92f6746ddc548b0a48713756ec21948 100644
--- a/Examples/Rendering/RenderingExample.cpp
+++ b/Examples/Rendering/RenderingExample.cpp
@@ -19,12 +19,12 @@
=========================================================================*/
-#include "imstkAPIUtilities.h"
#include "imstkCamera.h"
#include "imstkIBLProbe.h"
#include "imstkKeyboardSceneControl.h"
#include "imstkDirectionalLight.h"
#include "imstkMeshIO.h"
+#include "imstkPlane.h"
#include "imstkMouseSceneControl.h"
#include "imstkNew.h"
#include "imstkRenderMaterial.h"
@@ -89,10 +89,16 @@ main()
scene->addLight("directionalLight", dirLight);
// Plane
- auto planeObj = apiutils::createVisualAnalyticalSceneObject("Plane", scene, "VisualPlane", Vec3d(10.0, 10.0, 10.0));
+ auto plane = std::make_shared<Plane>();
+ plane->translate(Vec3d(10.0, 10.0, 10.0), Geometry::TransformType::ApplyToData);
+
+ auto sceneObj = std::make_shared<SceneObject>("VisualPlane");
+ sceneObj->setVisualGeometry(plane);
+ scene->addSceneObject(sceneObj);
+
imstkNew<RenderMaterial> planeMaterial;
planeMaterial->setColor(Color::LightGray);
- planeObj->getVisualModel(0)->setRenderMaterial(planeMaterial);
+ sceneObj->getVisualModel(0)->setRenderMaterial(planeMaterial);
}
// Run the simulation
diff --git a/Examples/SPHFluid/SPHFluid-BallDrop/CMakeLists.txt b/Examples/SPHFluid/SPHFluid-BallDrop/CMakeLists.txt
index ff4b4fe830cbddc65765a215a6ccabf42312e8f8..e7e4328037f68a1d0836bdc757dc03a18fec22ba 100644
--- a/Examples/SPHFluid/SPHFluid-BallDrop/CMakeLists.txt
+++ b/Examples/SPHFluid/SPHFluid-BallDrop/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/SPH)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/SPHFluid/SPHFluid-BunnyShape/CMakeLists.txt b/Examples/SPHFluid/SPHFluid-BunnyShape/CMakeLists.txt
index c735cd3a26f78296a8b8f0fd595c8c385781a742..01c20d23dba7a76043a0d67cc0bc98f16b45b4f8 100644
--- a/Examples/SPHFluid/SPHFluid-BunnyShape/CMakeLists.txt
+++ b/Examples/SPHFluid/SPHFluid-BunnyShape/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/SPH)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/SPHFluid/SPHFluid-HighViscousity/CMakeLists.txt b/Examples/SPHFluid/SPHFluid-HighViscousity/CMakeLists.txt
index 6166e288f1615790264ac600c181a8c9b1bfc9b0..966b9f21baefddb72d96287538c875df04e94319 100644
--- a/Examples/SPHFluid/SPHFluid-HighViscousity/CMakeLists.txt
+++ b/Examples/SPHFluid/SPHFluid-HighViscousity/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/SPH)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/SceneManagement/CMakeLists.txt b/Examples/SceneManagement/CMakeLists.txt
index 12c0da7d6b9afed91b77dd25f246b704a6806273..6c41f4ed74201a3d86e0bfe8a0566c0970645c3a 100644
--- a/Examples/SceneManagement/CMakeLists.txt
+++ b/Examples/SceneManagement/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/Screenshot/CMakeLists.txt b/Examples/Screenshot/CMakeLists.txt
index 6493e5d75078b178bd9f20fc3b5162135b6d6be5..6e901d9a1c4ef03ff79d49e4a5f6f66c9ef92d1c 100644
--- a/Examples/Screenshot/CMakeLists.txt
+++ b/Examples/Screenshot/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/TaskGraph/Configuration/CMakeLists.txt b/Examples/TaskGraph/Configuration/CMakeLists.txt
index 09512ba38eb3a3f85dd128ed4793b9d215eafa96..e52ad78a1e9f242fd7089b43e54df4f841c47aa6 100644
--- a/Examples/TaskGraph/Configuration/CMakeLists.txt
+++ b/Examples/TaskGraph/Configuration/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/TaskGraph)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/TaskGraph/TaskGraph/CMakeLists.txt b/Examples/TaskGraph/TaskGraph/CMakeLists.txt
index e51e2e76989b6317c48160e5dfc264cd977697b0..31d8fe23e2bc708ec44ba911a13342a476b2a642 100644
--- a/Examples/TaskGraph/TaskGraph/CMakeLists.txt
+++ b/Examples/TaskGraph/TaskGraph/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/TaskGraph)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/TaskGraph/Timing/CMakeLists.txt b/Examples/TaskGraph/Timing/CMakeLists.txt
index ea4991855fcfe14cb594f62e1370b62de19b2eff..77eb164965fab9005ca69fc4460aaa603f118f94 100644
--- a/Examples/TaskGraph/Timing/CMakeLists.txt
+++ b/Examples/TaskGraph/Timing/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/TaskGraph)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager)
diff --git a/Examples/VolumeRendering/CMakeLists.txt b/Examples/VolumeRendering/CMakeLists.txt
index 07db4511b4132b8b7a25a828182883bd8f2b7ecc..ba361d23204cb78a18f840a9b3ee560356a97aa2 100644
--- a/Examples/VolumeRendering/CMakeLists.txt
+++ b/Examples/VolumeRendering/CMakeLists.txt
@@ -31,4 +31,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities Filtering)
+target_link_libraries(${PROJECT_NAME} SimulationManager Filtering)
diff --git a/Source/Rendering/Testing/CMakeLists.txt b/Source/Rendering/Testing/CMakeLists.txt
index 2b7b0a196ce4e774965d94bc3be5fa5992c12bd3..c6b875d6afb312e99c17d3964daeb20c65a06f47 100644
--- a/Source/Rendering/Testing/CMakeLists.txt
+++ b/Source/Rendering/Testing/CMakeLists.txt
@@ -1,3 +1,3 @@
include(imstkAddTest)
imstk_add_visual_test( Rendering )
- target_link_libraries( RenderingVisualTests apiUtilities )
\ No newline at end of file
+ target_link_libraries( RenderingVisualTests Common SimulationManager)
\ No newline at end of file
diff --git a/Source/apiUtilities/CMakeLists.txt b/Source/apiUtilities/CMakeLists.txt
deleted file mode 100644
index 6990101b5d55aeaa2526052872502da6856627bb..0000000000000000000000000000000000000000
--- a/Source/apiUtilities/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-#-----------------------------------------------------------------------------
-# Create target
-#-----------------------------------------------------------------------------
-include(imstkAddLibrary)
-imstk_add_library(apiUtilities
- DEPENDS
- Common
- SimulationManager
- Scene
- )
-
-#-----------------------------------------------------------------------------
-# Testing
-#-----------------------------------------------------------------------------
-#if( ${PROJECT_NAME}_BUILD_TESTING )
-# add_subdirectory( Testing )
-#endif()
\ No newline at end of file
diff --git a/Source/apiUtilities/imstkAPIUtilities.cpp b/Source/apiUtilities/imstkAPIUtilities.cpp
deleted file mode 100644
index df74d14c90630918d064e8484a2d681d9efb485e..0000000000000000000000000000000000000000
--- a/Source/apiUtilities/imstkAPIUtilities.cpp
+++ /dev/null
@@ -1,202 +0,0 @@
-/*=========================================================================
-
- 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 "imstkAPIUtilities.h"
-#include "imstkGraph.h"
-#include "imstkLinearProjectionConstraint.h"
-#include "imstkLogger.h"
-#include "imstkVecDataArray.h"
-
-// Objects
-#include "imstkCollidingObject.h"
-#include "imstkFEMDeformableBodyModel.h"
-#include "imstkScene.h"
-#include "imstkSceneManager.h"
-
-// Geometry
-#include "imstkCapsule.h"
-#include "imstkOrientedBox.h"
-#include "imstkImageData.h"
-#include "imstkMeshIO.h"
-#include "imstkPlane.h"
-#include "imstkSphere.h"
-#include "imstkSurfaceMesh.h"
-#include "imstkTetrahedralMesh.h"
-
-namespace imstk
-{
-namespace apiutils
-{
-std::unordered_map<std::string, std::function<std::shared_ptr<Geometry>()>> geomMakeFunctions =
-{
- { "Sphere", []() { return std::make_shared<Sphere>(); } },
- { "Plane", []() { return std::make_shared<Sphere>(); } },
- { "OrientedBox", []() { return std::make_shared<OrientedBox>(); } },
- { "Capsule", []() { return std::make_shared<Sphere>(); } },
- { "Cylinder", []() { return std::make_shared<Sphere>(); } }
-};
-
-///
-/// \brief Create a analytical visual scene object that and add it to the scene
-///
-std::shared_ptr<SceneObject>
-createVisualAnalyticalSceneObject(std::string type,
- std::shared_ptr<Scene> scene,
- const std::string& objName,
- const Vec3d scale /* = 1.*/,
- const Vec3d t /*= Vec3d(0., 0., 0.)*/)
-{
- CHECK(scene != nullptr) << "Error: Scene object is not valid!";
- CHECK(!objName.empty()) << "Error: Name is empty!";
-
- if (geomMakeFunctions.count(type) == 0)
- {
- LOG(WARNING) << "Scene object geometry type " << type << " is not analytical!";
- return nullptr;
- }
- std::shared_ptr<Geometry> geom = geomMakeFunctions[type]();
-
- geom->scale(scale, Geometry::TransformType::ApplyToData);
- geom->translate(t, Geometry::TransformType::ApplyToData);
-
- auto sceneObj = std::make_shared<SceneObject>(objName);
- sceneObj->setVisualGeometry(geom);
- scene->addSceneObject(sceneObj);
-
- return sceneObj;
-}
-
-///
-/// \brief Create a analytical colliding scene object that and add it to the scene
-///
-std::shared_ptr<CollidingObject>
-createCollidingAnalyticalSceneObject(std::string type,
- std::shared_ptr<Scene> scene,
- const std::string& objName,
- const Vec3d scale /*= 1.*/,
- const Vec3d t /*= Vec3d(0., 0., 0.)*/)
-{
- CHECK(scene != nullptr) << "Scene is not valid!";
- CHECK(!objName.empty()) << "Name is empty!";
-
- if (geomMakeFunctions.count(type) == 0)
- {
- LOG(WARNING) << "Scene object geometry type " << type << " is not analytical!";
- return nullptr;
- }
- std::shared_ptr<Geometry> geom = geomMakeFunctions[type]();
-
- geom->scale(scale, Geometry::TransformType::ApplyToData);
- geom->translate(t, Geometry::TransformType::ApplyToData);
-
- auto sceneObj = std::make_shared<CollidingObject>(objName);
- sceneObj->setVisualGeometry(geom);
- sceneObj->setCollidingGeometry(geom);
- scene->addSceneObject(sceneObj);
-
- return sceneObj;
-}
-
-///
-/// \brief Read a mesh, create a visual scene object and add to the scene
-///
-std::shared_ptr<SceneObject>
-createAndAddVisualSceneObject(std::shared_ptr<Scene> scene,
- const std::string& fileName,
- const std::string& objectName)
-{
- CHECK(scene != nullptr) << "Error: Scene object supplied is not valid!";
- CHECK(!fileName.empty()) << "Error: Name is empty!";
-
- auto mesh = MeshIO::read(fileName);
- auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(mesh);
-
- // Create object and add to scene
- auto meshSceneObject = std::make_shared<SceneObject>("meshObject");
- meshSceneObject->setVisualGeometry(SurfaceMesh);
- meshSceneObject->setName(objectName);
- scene->addSceneObject(meshSceneObject);
-
- return meshSceneObject;
-}
-
-///
-/// \brief Create a non-linear system using FEM dynamic model
-///
-std::shared_ptr<NonLinearSystem<SparseMatrixd>>
-createNonLinearSystem(std::shared_ptr<FEMDeformableBodyModel> dynaModel)
-{
- CHECK(dynaModel != nullptr) << "Dynamic model object supplied is not valid!";
-
- auto nlSystem = std::make_shared<NonLinearSystem<SparseMatrixd>>(
- dynaModel->getFunction(),
- dynaModel->getFunctionGradient());
-
- std::vector<LinearProjectionConstraint> linProj;
- for (auto i : dynaModel->getFixNodeIds())
- {
- linProj.push_back(LinearProjectionConstraint(i, true));
- }
- nlSystem->setUnknownVector(dynaModel->getUnknownVec());
- nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
- nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
-
- return nlSystem;
-}
-
-std::shared_ptr<Graph>
-getMeshGraph(std::shared_ptr<PointSet> m)
-{
- LOG(WARNING) << "Note: The graph of a point set has no edges";
-
- return std::make_shared<Graph>(m->getNumVertices());
-}
-
-std::shared_ptr<Graph>
-getMeshGraph(std::shared_ptr<SurfaceMesh> m)
-{
- auto gMesh = std::make_shared<Graph>(m->getNumVertices());
- for (auto tri : *m->getTriangleIndices())
- {
- gMesh->addEdge(tri[0], tri[1]);
- gMesh->addEdge(tri[0], tri[2]);
- gMesh->addEdge(tri[1], tri[2]);
- }
-
- return gMesh;
-}
-
-std::shared_ptr<Graph>
-getMeshGraph(std::shared_ptr<TetrahedralMesh> m)
-{
- auto gMesh = std::make_shared<Graph>(m->getNumVertices());
- for (auto tet : *m->getTetrahedraIndices())
- {
- gMesh->addEdge(tet[0], tet[1]);
- gMesh->addEdge(tet[0], tet[2]);
- gMesh->addEdge(tet[0], tet[3]);
- gMesh->addEdge(tet[1], tet[2]);
- gMesh->addEdge(tet[1], tet[3]);
- gMesh->addEdge(tet[2], tet[3]);
- }
- return gMesh;
-}
-} //apiutils
-} // imstk
diff --git a/Source/apiUtilities/imstkAPIUtilities.h b/Source/apiUtilities/imstkAPIUtilities.h
deleted file mode 100644
index c0b9ed9b2cec01197f277406b57df33100eeb785..0000000000000000000000000000000000000000
--- a/Source/apiUtilities/imstkAPIUtilities.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/*=========================================================================
-
- 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.
-
-=========================================================================*/
-
-#pragma once
-
-#include "imstkGeometry.h"
-#include "imstkMath.h"
-
-namespace imstk
-{
-class CollidingObject;
-class FEMDeformableBodyModel;
-class Graph;
-template<typename Matrix>
-class NonLinearSystem;
-class PointSet;
-class Scene;
-class SceneManager;
-class SceneObject;
-class SurfaceMesh;
-class TetrahedralMesh;
-
-namespace apiutils
-{
-///
-/// \brief Create a analytical visual scene object that and add it to the scene
-///
-std::shared_ptr<SceneObject> createVisualAnalyticalSceneObject(std::string type,
- std::shared_ptr<Scene> scene,
- const std::string& objName,
- const Vec3d scale = Vec3d(1.0, 1.0, 1.0),
- const Vec3d t = Vec3d(0., 0., 0.));
-
-///
-/// \brief Create a analytical colliding scene object that and add it to the scene
-///
-std::shared_ptr<CollidingObject> createCollidingAnalyticalSceneObject(std::string type,
- std::shared_ptr<Scene> scene,
- const std::string& objName,
- const Vec3d scale = Vec3d(1.0, 1.0, 1.0),
- const Vec3d t = Vec3d(0., 0., 0.));
-
-///
-/// \brief Read a mesh, create a visual scene object and add to the scene
-///
-std::shared_ptr<SceneObject> createAndAddVisualSceneObject(std::shared_ptr<Scene> scene,
- const std::string& fileName,
- const std::string& objectName);
-
-///
-/// \brief Create a non-linear system using FEM dynamic model
-///
-std::shared_ptr<NonLinearSystem<SparseMatrixd>> createNonLinearSystem(std::shared_ptr<FEMDeformableBodyModel> dynaModel);
-
-///
-/// \brief Create a \ref Graph ref
-///
-std::shared_ptr<Graph> getMeshGraph(std::shared_ptr<PointSet> m);
-std::shared_ptr<Graph> getMeshGraph(std::shared_ptr<SurfaceMesh> m);
-std::shared_ptr<Graph> getMeshGraph(std::shared_ptr<TetrahedralMesh> m);
-} //apiutils
-} // imstk