From 0e70eae22bdfbe635e89a84307cda4aae8d1c905 Mon Sep 17 00:00:00 2001
From: Ye Han <ye.han@kitware.com>
Date: Wed, 17 Mar 2021 19:29:46 -0400
Subject: [PATCH] ENH: Add functions for topo vert/tri change
---
Source/Scene/imstkPbdObjectCuttingPair.cpp | 106 +++++++++++++++++++++
Source/Scene/imstkPbdObjectCuttingPair.h | 38 +++++++-
2 files changed, 143 insertions(+), 1 deletion(-)
diff --git a/Source/Scene/imstkPbdObjectCuttingPair.cpp b/Source/Scene/imstkPbdObjectCuttingPair.cpp
index 62dd5f843..9475c1479 100644
--- a/Source/Scene/imstkPbdObjectCuttingPair.cpp
+++ b/Source/Scene/imstkPbdObjectCuttingPair.cpp
@@ -30,6 +30,7 @@ limitations under the License.
#include "imstkPbdSolver.h"
#include "imstkSurfaceMesh.h"
#include "imstkSurfaceMeshCut.h"
+#include "imstkVecDataArray.h"
namespace imstk
{
@@ -79,4 +80,109 @@ PbdObjectCuttingPair::apply()
pbdModel->getSolver()->setInvMasses(pbdModel->getInvMasses());
pbdModel->getSolver()->setPositions(pbdModel->getCurrentState()->getPositions());
}
+
+void
+PbdObjectCuttingPair::addVertices(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<VecDataArray<double, 3>> newVertices,
+ std::shared_ptr<VecDataArray<double, 3>> newInitialVertices)
+{
+ auto vertices = pbdMesh->getVertexPositions();
+ auto initialVertices = pbdMesh->getInitialVertexPositions();
+
+ auto nVertices = vertices->size();
+ auto nNewVertices = newVertices->size();
+ if (nNewVertices != initialVertices->size())
+ {
+ LOG(WARNING) << "Number of new vertices does not match number of new initial vertices";
+ return;
+ }
+
+ vertices->reserve(nVertices + nNewVertices);
+ initialVertices->reserve(nVertices + nNewVertices);
+ for (int i = 0; i < nNewVertices; ++i)
+ {
+ vertices->push_back((*newVertices)[i]);
+ initialVertices->push_back((*newInitialVertices)[i]);
+ }
+ pbdMesh->modified();
+}
+
+void
+PbdObjectCuttingPair::modifyVertices(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<std::vector<size_t>> modifiedVertexIndices,
+ std::shared_ptr<VecDataArray<double, 3>> modifiedVertices,
+ std::shared_ptr<VecDataArray<double, 3>> modifiedInitialVertices)
+{
+ auto vertices = pbdMesh->getVertexPositions();
+ auto initialVertices = pbdMesh->getInitialVertexPositions();
+
+ auto nVertices = vertices->size();
+ auto nModifiedVertices = modifiedVertices->size();
+ if (nVertices != initialVertices->size()
+ || nModifiedVertices != modifiedInitialVertices->size()
+ || nModifiedVertices != modifiedVertexIndices->size())
+ {
+ LOG(WARNING) << "Numbers of vertices do not match.";
+ return;
+ }
+
+ for (int i = 0; i < nModifiedVertices; ++i)
+ {
+ auto vertexIdx = modifiedVertexIndices->at(i);
+ (*vertices)[vertexIdx] = (*modifiedVertices)[i];
+ (*initialVertices)[vertexIdx] = (*modifiedInitialVertices)[i];
+ m_removeConstraintVertices->insert(vertexIdx);
+ m_addConstraintVertices->insert(vertexIdx);
+ }
+ pbdMesh->modified();
+}
+
+void
+PbdObjectCuttingPair::addTriangles(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<VecDataArray<int, 3>> newTriangles)
+{
+ auto triangles = pbdMesh->getTriangleIndices();
+ auto nTriangles = triangles->size();
+ auto nNewTriangles = newTriangles->size();
+
+ triangles->reserve(nTriangles + nNewTriangles);
+ for (int i = 0; i < nNewTriangles; ++i)
+ {
+ auto& tri = (*newTriangles)[i];
+ triangles->push_back(tri);
+ m_addConstraintVertices->insert(tri[0]);
+ m_addConstraintVertices->insert(tri[1]);
+ m_addConstraintVertices->insert(tri[2]);
+ }
+ pbdMesh->modified();
+}
+
+void
+PbdObjectCuttingPair::modifyTriangles(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<std::vector<size_t>> modifiedTriangleIndices,
+ std::shared_ptr<VecDataArray<int, 3>> modifiedTriangles)
+{
+ auto triangles = pbdMesh->getTriangleIndices();
+ auto nTriangles = triangles->size();
+ auto nModifiedTriangles = modifiedTriangles->size();
+
+ if (nModifiedTriangles != modifiedTriangleIndices->size())
+ {
+ LOG(WARNING) << "Numbers of vertices do not match.";
+ return;
+ }
+
+ for (int i = 0; i < nModifiedTriangles; ++i)
+ {
+ auto& tri = (*modifiedTriangles)[i];
+ (*triangles)[modifiedTriangleIndices->at(i)] = tri;
+ m_removeConstraintVertices->insert(tri[0]);
+ m_removeConstraintVertices->insert(tri[1]);
+ m_removeConstraintVertices->insert(tri[2]);
+ m_addConstraintVertices->insert(tri[0]);
+ m_addConstraintVertices->insert(tri[1]);
+ m_addConstraintVertices->insert(tri[2]);
+ }
+ pbdMesh->modified();
+}
}
\ No newline at end of file
diff --git a/Source/Scene/imstkPbdObjectCuttingPair.h b/Source/Scene/imstkPbdObjectCuttingPair.h
index 7fe35f62f..6a58f2a2c 100644
--- a/Source/Scene/imstkPbdObjectCuttingPair.h
+++ b/Source/Scene/imstkPbdObjectCuttingPair.h
@@ -22,11 +22,16 @@ limitations under the License.
#pragma once
#include "imstkObjectInteractionPair.h"
+#include "imstkVecDataArray.h"
+
+#include <unordered_set>
+#include <vector>
namespace imstk
{
-class PbdObject;
class CollidingObject;
+class PbdObject;
+class SurfaceMesh;
///
/// \class PbdObjectCuttingPair
@@ -42,5 +47,36 @@ public:
void apply();
protected:
+
+ ///
+ /// \brief Add new vertices to pbdObj
+ ///
+ void addVertices(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<VecDataArray<double, 3>> vertices,
+ std::shared_ptr<VecDataArray<double, 3>> initialVertices);
+
+ ///
+ /// \brief Modify current vertices of pbdObj
+ ///
+ void modifyVertices(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<std::vector<size_t>> vertexIndices,
+ std::shared_ptr<VecDataArray<double, 3>> vertices,
+ std::shared_ptr<VecDataArray<double, 3>> initialVertices);
+
+ ///
+ /// \brief Add new elements to pbdObj
+ ///
+ void addTriangles(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<VecDataArray<int, 3>> elements);
+
+ ///
+ /// \brief Modify exsiting elements of pbdObj
+ ///
+ void modifyTriangles(std::shared_ptr<SurfaceMesh> pbdMesh,
+ std::shared_ptr<std::vector<size_t>> elementIndices,
+ std::shared_ptr<VecDataArray<int, 3>> elements);
+
+ std::shared_ptr<std::unordered_set<size_t>> m_removeConstraintVertices = std::make_shared<std::unordered_set<size_t>>();
+ std::shared_ptr<std::unordered_set<size_t>> m_addConstraintVertices = std::make_shared<std::unordered_set<size_t>>();
};
}
\ No newline at end of file
--
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