diff --git a/Source/Common/CMakeLists.txt b/Source/Common/CMakeLists.txt
index b0481037b7c98eb248e67265bf5f0b17a679f499..c79c608b43470756b3635d4df1d0f732a208abe0 100644
--- a/Source/Common/CMakeLists.txt
+++ b/Source/Common/CMakeLists.txt
@@ -7,7 +7,6 @@ imstk_add_library( Common
Eigen3::Eigen
g3log
tbb
- # tsimd
)
#-----------------------------------------------------------------------------
diff --git a/Source/Common/TaskGraph/imstkTaskGraph.h b/Source/Common/TaskGraph/imstkTaskGraph.h
index b38b474df84053e74b8a2056a7e2675471700ea2..1cdacadee1dc28897d33aa07c693cd1386009915 100644
--- a/Source/Common/TaskGraph/imstkTaskGraph.h
+++ b/Source/Common/TaskGraph/imstkTaskGraph.h
@@ -142,7 +142,7 @@ public:
void addEdge(std::shared_ptr<TaskNode> srcNode, std::shared_ptr<TaskNode> destNode);
///
- /// \brief Attachs another TaskGraph as a subgraph (copies nodes and edges, then connects source->subgraph::source, subgraph::sink->sink),
+ /// \brief Attaches another TaskGraph as a subgraph (copies nodes and edges, then connects source->subgraph::source, subgraph::sink->sink),
/// source and sink must exist in this graph. Also serves as a graph sum between this and subgraph
///
void nestGraph(std::shared_ptr<TaskGraph> subgraph, std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink);
@@ -190,7 +190,7 @@ public:
static std::shared_ptr<TaskGraph> resolveCriticalNodes(std::shared_ptr<TaskGraph> graph);
///
- /// \brief Remove redudant edges. Removal is such that all vertices are still reachable and graph goes from source->sink
+ /// \brief Remove redundant edges. Removal is such that all vertices are still reachable and graph goes from source->sink
/// returns nullptr if failed. Only fails if graph is cyclic.
///
static std::shared_ptr<TaskGraph> transitiveReduce(std::shared_ptr<TaskGraph> graph);
diff --git a/Source/Common/imstkEventObject.h b/Source/Common/imstkEventObject.h
index 79b5eede77a2e20935758842dd10c065f891ee51..aa2dd08cbe0357c2f06e36f60f473180601f8f80 100644
--- a/Source/Common/imstkEventObject.h
+++ b/Source/Common/imstkEventObject.h
@@ -102,10 +102,10 @@ static void disconnect(EventObject*, EventObject*, std::string (*)());
/// \class EventObject
///
/// \brief EventObject is the base class for all objects in iMSTK that
-/// can recieve and emit events. It supports direct and queued observer functions.
-/// Direct observers recieve events immediately on the same thread
+/// can receive and emit events. It supports direct and queued observer functions.
+/// Direct observers receive events immediately on the same thread
/// This can either be posted on an object or be a function pointer
-/// Queued observers recieve events within their queue which they can process whenever
+/// Queued observers receive events within their queue which they can process whenever
/// they like.
/// These can be connected with the connect/queuedConnect/disconnect functions
/// \todo ThreadObject affinity
diff --git a/Source/Common/imstkModule.cpp b/Source/Common/imstkModule.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6ce00bc20289e447dae2335cce8ec86f886e0027
--- /dev/null
+++ b/Source/Common/imstkModule.cpp
@@ -0,0 +1,59 @@
+/*=========================================================================
+
+ 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 "imstkModule.h"
+
+namespace imstk
+{
+void
+Module::update()
+{
+ if (m_init && !m_paused)
+ {
+ if (sleepDelay != 0.0)
+ {
+ std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(sleepDelay));
+ }
+
+ if (muteUpdateEvents)
+ {
+ this->updateModule();
+ }
+ else
+ {
+ this->postEvent(Event(Module::preUpdate()));
+ this->updateModule();
+ this->postEvent(Event(Module::postUpdate()));
+ }
+ }
+}
+
+void
+Module::uninit()
+{
+ // Can only uninit if, init'd
+ if (m_init)
+ {
+ uninitModule();
+ m_init = false;
+ }
+}
+}// imstk
diff --git a/Source/Common/imstkModule.h b/Source/Common/imstkModule.h
index 7d2f88e7cf8f39f9d7add0c69664980c26c724f0..724083eaa06cddee5ad807a5b3ddf60bfb6180fa 100644
--- a/Source/Common/imstkModule.h
+++ b/Source/Common/imstkModule.h
@@ -74,7 +74,7 @@ public:
public:
///
- /// \brief Get/Set the timestep
+ /// \brief Get/Set the time step
///
double getDt() const { return m_dt; }
void setDt(const double dt) { m_dt = dt; }
@@ -90,6 +90,9 @@ public:
bool getPaused() const { return m_paused; }
void setPaused(const bool paused) { m_paused = paused; }
+ ///
+ /// \brief Set/Get the execution type (see imstk::ExecutionType)
+ ///
ExecutionType getExecutionType() const { return m_executionType; }
void setExecutionType(const ExecutionType type) { m_executionType = type; }
@@ -101,37 +104,9 @@ public:
public:
void init() { m_init = initModule(); }
- void update()
- {
- if (m_init && !m_paused)
- {
- if (sleepDelay != 0.0)
- {
- std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(sleepDelay));
- }
-
- if (muteUpdateEvents)
- {
- this->updateModule();
- }
- else
- {
- this->postEvent(Event(Module::preUpdate()));
- this->updateModule();
- this->postEvent(Event(Module::postUpdate()));
- }
- }
- }
-
- void uninit()
- {
- // Can only uninit if, init'd
- if (m_init)
- {
- uninitModule();
- m_init = false;
- }
- }
+ void update();
+
+ void uninit();
public:
virtual bool initModule() = 0;
diff --git a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
index 718501404790638fd2b796f7b816196a0acb8718..19a809dd792811a57bf38fa82ddeef9a2b0f91d1 100644
--- a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
+++ b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
@@ -418,7 +418,6 @@ VTKRenderer::updateCamera()
m_camera->SetViewUp(up[0], up[1], up[2]);
m_camera->SetViewAngle(cam->getFieldOfView());
m_camera->SetClippingRange(cam->getNearZ(), cam->getFarZ());
- m_camera->SetClippingRange(cam->getNearZ(), cam->getFarZ());
}
void
diff --git a/Source/Scene/imstkInteractionPair.h b/Source/Scene/imstkInteractionPair.h
index 585bba397924de58261c2c42101784a6416ee2bf..7714d919217b4bff94b8218b5778136eb57f9ce6 100644
--- a/Source/Scene/imstkInteractionPair.h
+++ b/Source/Scene/imstkInteractionPair.h
@@ -50,10 +50,10 @@ public:
const Outputs& getTaskNodeOutputs() const { return m_taskNodeOutputs; }
public:
- ///
- /// \brief Modifies the computational graph
- ///
- void compute();
+///
+/// \brief Modifies the computational graph
+///
+//void compute();
protected:
Inputs m_taskNodeInputs; ///> The interacting nodes
diff --git a/Source/Scene/imstkObjectInteractionPair.h b/Source/Scene/imstkObjectInteractionPair.h
index 35f92499ecd7ccef9b60aad126cae80eaa563c0e..14bed089b129dd1cf92e6668352c52469559ad16 100644
--- a/Source/Scene/imstkObjectInteractionPair.h
+++ b/Source/Scene/imstkObjectInteractionPair.h
@@ -31,7 +31,7 @@ class SceneObject;
/// \class ObjectInteractionPair
///
/// \brief This class defines an interaction between two SceneObjects
-/// An interaction is a function occuring between two SceneObjects at some point
+/// An interaction is a function occurring between two SceneObjects at some point
///
class ObjectInteractionPair : public InteractionPair
{
@@ -46,7 +46,7 @@ protected:
virtual ~ObjectInteractionPair() override = default;
public:
- /// \brief TODO
+ /// \brief Return the pair of scene objects involved in the interaction
const SceneObjectPair& getObjectsPair() const { return m_objects; }
public:
diff --git a/Source/Scene/imstkPbdObjectCuttingPair.h b/Source/Scene/imstkPbdObjectCuttingPair.h
index f045183f2ce511a857116b345e06f688155d3669..3f9a2d9f63103a70b22763ffe4113fc15c4f6122 100644
--- a/Source/Scene/imstkPbdObjectCuttingPair.h
+++ b/Source/Scene/imstkPbdObjectCuttingPair.h
@@ -71,7 +71,7 @@ protected:
std::shared_ptr<VecDataArray<int, 3>> elements);
///
- /// \brief Modify exsiting elements of pbdObj
+ /// \brief Modify existing elements of pbdObj
///
void modifyTriangles(std::shared_ptr<SurfaceMesh> pbdMesh,
std::shared_ptr<std::vector<size_t>> elementIndices,
diff --git a/Source/SceneEntities/Camera/imstkCamera.cpp b/Source/SceneEntities/Camera/imstkCamera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..945d1ded6a2830b5bb64a2981cbc679527e9ca88
--- /dev/null
+++ b/Source/SceneEntities/Camera/imstkCamera.cpp
@@ -0,0 +1,33 @@
+/*=========================================================================
+
+ 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 "imstkCamera.h"
+
+namespace imstk
+{
+void
+Camera::print()
+{
+ std::cout << "CamPos: " << m_position[0] << ", " << m_position[1] << ", " << m_position[2] << std::endl;
+ std::cout << "FocalPoint: " << m_focalPoint[0] << ", " << m_focalPoint[1] << ", " << m_focalPoint[2] << std::endl;
+ std::cout << "Up: " << m_viewUp[0] << ", " << m_viewUp[1] << ", " << m_viewUp[2] << std::endl;
+}
+}
\ No newline at end of file
diff --git a/Source/SceneEntities/Camera/imstkCamera.h b/Source/SceneEntities/Camera/imstkCamera.h
index a4e84dd8747bcc052f74e86a681204cea8a90d37..b5f2d368ae83d71179f30f403155904f26b3e219 100644
--- a/Source/SceneEntities/Camera/imstkCamera.h
+++ b/Source/SceneEntities/Camera/imstkCamera.h
@@ -81,44 +81,34 @@ public:
/// \brief Get camera view matrix
/// \returns Camera view matrix reference
///
- Mat4d& getView() { return m_view; }
+ inline Mat4d& getView() { return m_view; }
///
/// \brief Get the inverse view matrix
///
- const Mat4d& getInvView() { return m_invView; }
+ inline const Mat4d& getInvView() { return m_invView; }
///
/// \brief Set the camera view matrix
///
- void setView(const Mat4d& view)
+ inline void setView(const Mat4d& view)
{
m_viewModified = false;
m_view = view;
m_invView = m_view.inverse();
}
- ///
- /// \brief Get camera projection matrix
- ///
- //const Mat4d& getProj() { return m_proj; }
-
- ///
- /// \brief Set camera projection matrix
- ///
- //void setProj(const Mat4d& proj) { m_proj = proj; }
-
///
/// \brief Gets the field of view
/// \returns vertical field of view in degrees
///
- const double getFieldOfView() const { return m_fieldOfView; }
+ inline const double getFieldOfView() const { return m_fieldOfView; }
///
/// \brief Sets the field of view
/// \param vertical field of view in degrees
///
- void setFieldOfView(const double fov)
+ inline void setFieldOfView(const double fov)
{
m_fieldOfView = fov;
//m_projModified = true;
@@ -129,20 +119,19 @@ public:
/// note: You lose depth accuracy as the range between near and far increases
/// could cause z fighting
///
- void setNearZ(const double nearZ) { m_nearZ = nearZ; }
-
- const double getNearZ() const { return m_nearZ; }
+ inline void setNearZ(const double nearZ) { m_nearZ = nearZ; }
+ inline const double getNearZ() const { return m_nearZ; }
///
/// \brief Set clipping near
/// note: You lose depth accuracy as the range between near and far increases
/// could cause z fighting
///
- void setFarZ(const double farZ) { m_farZ = farZ; }
+ inline void setFarZ(const double farZ) { m_farZ = farZ; }
- const double getFarZ() const { return m_farZ; }
+ inline const double getFarZ() const { return m_farZ; }
- virtual void update()
+ inline virtual void update()
{
if (m_viewModified)
{
@@ -156,25 +145,24 @@ public:
}*/
}
-public:
///
/// \brief Gets the camera position
/// \returns camera position
///
- const Vec3d& getPosition() const { return m_position; }
+ inline const Vec3d& getPosition() const { return m_position; }
///
/// \brief Sets the camera position
///
- void setPosition(const Vec3d& pos)
+ inline void setPosition(const Vec3d& pos)
{
m_position = pos;
m_viewModified = true;
}
- void setPosition(const double x,
- const double y,
- const double z)
+ inline void setPosition(const double x,
+ const double y,
+ const double z)
{
setPosition(Vec3d(x, y, z));
}
@@ -184,20 +172,20 @@ public:
/// The focal point is the point that the camera points to
/// \returns Focal point position
///
- const Vec3d& getFocalPoint() const { return m_focalPoint; }
+ inline const Vec3d& getFocalPoint() const { return m_focalPoint; }
///
/// \brief Sets the focal point
///
- void setFocalPoint(const Vec3d& focalPt)
+ inline void setFocalPoint(const Vec3d& focalPt)
{
m_focalPoint = focalPt;
m_viewModified = true;
}
- void setFocalPoint(const double x,
- const double y,
- const double z)
+ inline void setFocalPoint(const double x,
+ const double y,
+ const double z)
{
setFocalPoint(Vec3d(x, y, z));
}
@@ -206,20 +194,20 @@ public:
/// \brief Get the up vector
/// \returns up vector of camera
///
- const Vec3d& getViewUp() const { return m_viewUp; }
+ inline const Vec3d& getViewUp() const { return m_viewUp; }
///
/// \brief Set the up vector
///
- void setViewUp(const Vec3d& up)
+ inline void setViewUp(const Vec3d& up)
{
m_viewUp = up.normalized();
m_viewModified = true;
}
- void setViewUp(const double x,
- const double y,
- const double z)
+ inline void setViewUp(const double x,
+ const double y,
+ const double z)
{
setViewUp(Vec3d(x, y, z));
}
@@ -227,12 +215,7 @@ public:
///
/// \brief Utility function to quickly print cam stats
///
- void print()
- {
- std::cout << "CamPos: " << m_position[0] << ", " << m_position[1] << ", " << m_position[2] << std::endl;
- std::cout << "FocalPoint: " << m_focalPoint[0] << ", " << m_focalPoint[1] << ", " << m_focalPoint[2] << std::endl;
- std::cout << "Up: " << m_viewUp[0] << ", " << m_viewUp[1] << ", " << m_viewUp[2] << std::endl;
- }
+ void print();
protected:
// Base camera values
@@ -242,7 +225,6 @@ protected:
bool m_viewModified = true;
//bool m_projModified = true;
-protected:
// Base projection parameters
double m_fieldOfView = 40.0; ///> field of view in degrees
double m_nearZ = 0.01; ///> near plane of the camera
diff --git a/Source/SceneEntities/Lights/imstkLight.h b/Source/SceneEntities/Lights/imstkLight.h
index 8b2106aaf4f307e1f6ea4ec5292b7d2b9715f424..e3e5c96998a883992bb48dfcb0402335fbc94ec8 100644
--- a/Source/SceneEntities/Lights/imstkLight.h
+++ b/Source/SceneEntities/Lights/imstkLight.h
@@ -77,11 +77,6 @@ public:
///
void switchOn() { m_switchState = true; }
- ///
- /// \brief Get the status (On/off) of the light
- ///
- bool isOff() const { return m_switchState; }
-
///
/// \brief Switch the light Off
///
@@ -105,7 +100,7 @@ public:
///
/// \brief Set the light intensity. This value is unbounded.
///
- void setIntensity(double intensity) { m_intensity = (float)intensity; }
+ void setIntensity(const double intensity) { m_intensity = (float)intensity; }
protected:
Light(const LightType& type) : SceneEntity(), m_type(type) { }
diff --git a/Source/SceneEntities/Objects/imstkAnimationModel.h b/Source/SceneEntities/Objects/imstkAnimationModel.h
index 924fe863291df26ac3f4863d4641c2c1140634e9..66c2f16d1919bb84ec6883e2b5c39fa18f15883a 100644
--- a/Source/SceneEntities/Objects/imstkAnimationModel.h
+++ b/Source/SceneEntities/Objects/imstkAnimationModel.h
@@ -37,7 +37,6 @@ public:
/// \brief Constructor
///
explicit AnimationModel(std::shared_ptr<Geometry> geometry);
-
AnimationModel() = delete;
///
diff --git a/Source/SceneEntities/Objects/imstkVisualModel.cpp b/Source/SceneEntities/Objects/imstkVisualModel.cpp
index 1b3f017a333c77d85f83065fc6951493d91c713f..74f58c226ab18a3d94f13862797d080b5103be77 100644
--- a/Source/SceneEntities/Objects/imstkVisualModel.cpp
+++ b/Source/SceneEntities/Objects/imstkVisualModel.cpp
@@ -50,6 +50,20 @@ VisualModel::VisualModel() : m_renderMaterial(std::make_shared<RenderMaterial>()
{
}
+void
+VisualModel::setRenderMaterial(std::shared_ptr<RenderMaterial> renderMaterial)
+{
+ m_renderMaterial = renderMaterial;
+ this->postModified();
+}
+
+void
+VisualModel::setIsVisible(const bool visible)
+{
+ m_isVisible = visible;
+ this->postModified();
+}
+
bool
VisualModel::getRenderDelegateCreated(Renderer* ren)
{
diff --git a/Source/SceneEntities/Objects/imstkVisualModel.h b/Source/SceneEntities/Objects/imstkVisualModel.h
index 8fab729f22db2e7ac1e67050ea1a9e7f9e797534..21494f9be3af683e42f000500ca2a08c46acd5ec 100644
--- a/Source/SceneEntities/Objects/imstkVisualModel.h
+++ b/Source/SceneEntities/Objects/imstkVisualModel.h
@@ -81,11 +81,7 @@ public:
///
/// \brief Set/Get render material
///
- void setRenderMaterial(std::shared_ptr<RenderMaterial> renderMaterial)
- {
- m_renderMaterial = renderMaterial;
- this->postModified();
- }
+ void setRenderMaterial(std::shared_ptr<RenderMaterial> renderMaterial);
std::shared_ptr<RenderMaterial> getRenderMaterial() const { return m_renderMaterial; }
@@ -95,11 +91,7 @@ public:
void show() { setIsVisible(true); }
void hide() { setIsVisible(false); }
bool isVisible() const { return m_isVisible; }
- void setIsVisible(const bool visible)
- {
- m_isVisible = visible;
- this->postModified();
- }
+ void setIsVisible(const bool visible);
///
/// \brief Get/Set whether the delegate has been created