diff --git a/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp b/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
index 2923f1ea00128a7d322aa9ed54eb6c9dd293b803..5c90e10f9dbe24c85d64bdb015ff634c26f6ee4b 100644
--- a/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
+++ b/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
@@ -92,8 +92,6 @@ FEMDeformableBodyModel::configure(const std::string& configFileName)
bool
FEMDeformableBodyModel::initialize()
{
- auto physicsMesh = std::dynamic_pointer_cast<imstk::VolumetricMesh>(this->getModelGeometry());
-
// prerequisite of for successfully initializing
if (!m_forceModelGeometry || !m_forceModelConfiguration)
{
@@ -101,16 +99,45 @@ FEMDeformableBodyModel::initialize()
return false;
}
+ auto physicsMesh = std::dynamic_pointer_cast<imstk::VolumetricMesh>(this->getModelGeometry());
m_vegaPhysicsMesh = physicsMesh->getAttachedVegaMesh();
- this->initializeForceModel();
- this->initializeMassMatrix();
- this->initializeDampingMatrix();
- this->initializeTangentStiffness();
+ if (!this->initializeForceModel())
+ {
+ return false;
+ }
+ ;
+ if (!this->initializeMassMatrix())
+ {
+ return false;
+ }
+ ;
+ if (!this->initializeDampingMatrix())
+ {
+ return false;
+ }
+ ;
+ if (!this->initializeTangentStiffness())
+ {
+ return false;
+ }
+ ;
this->loadInitialStates();
- this->loadBoundaryConditions();
- this->initializeGravityForce();
- this->initializeExplicitExternalForces();
+ if (!this->loadBoundaryConditions())
+ {
+ return false;
+ }
+ ;
+ if (!this->initializeGravityForce())
+ {
+ return false;
+ }
+ ;
+ if (!this->initializeExplicitExternalForces())
+ {
+ return false;
+ }
+ ;
m_Feff.resize(m_numDOF);
m_Finternal.resize(m_numDOF);
@@ -126,13 +153,18 @@ FEMDeformableBodyModel::initialize()
void
FEMDeformableBodyModel::loadInitialStates()
{
+ if (m_numDOF == 0)
+ {
+ LOG(WARNING) << "FEMDeformableBodyModel::loadInitialStates() - Num. of degree of freedom is zero!";
+ }
+
// For now the initial states are set to zero
m_initialState = std::make_shared<kinematicState>(m_numDOF);
m_previousState = std::make_shared<kinematicState>(m_numDOF);
m_currentState = std::make_shared<kinematicState>(m_numDOF);
}
-void
+bool
FEMDeformableBodyModel::loadBoundaryConditions()
{
auto fileName = m_forceModelConfiguration->getStringOptionsMap().at("fixedDOFFilename");
@@ -140,7 +172,7 @@ FEMDeformableBodyModel::loadBoundaryConditions()
if (fileName.empty())
{
LOG(WARNING) << "DeformableBodyModel::loadBoundaryConditions: The external boundary conditions file name is empty";
- return;
+ return false;
}
else
{
@@ -149,7 +181,6 @@ FEMDeformableBodyModel::loadBoundaryConditions()
if (file.peek() == std::ifstream::traits_type::eof())
{
LOG(INFO) << "DeformableBodyModel::loadBoundaryConditions: The external boundary conditions file is empty";
- return;
}
if (file.is_open())
@@ -167,6 +198,7 @@ FEMDeformableBodyModel::loadBoundaryConditions()
{
LOG(WARNING) << "FEMDeformableBodyModel::loadBoundaryConditions(): " <<
"The boundary condition node id provided is greater than number of nodes and hence excluded!!";
+ return false;
}
}
@@ -176,11 +208,13 @@ FEMDeformableBodyModel::loadBoundaryConditions()
else
{
LOG(WARNING) << "DeformableBodyModel::loadBoundaryConditions: Could not open boundary conditions file!";
+ return false;
}
}
+ return true;
}
-void
+bool
FEMDeformableBodyModel::initializeForceModel()
{
const double g = m_forceModelConfiguration->getFloatsOptionsMap().at("gravity");
@@ -217,16 +251,19 @@ FEMDeformableBodyModel::initializeForceModel()
default:
LOG(WARNING) << "DeformableBodyModel::initializeForceModel: Unknown force model type";
+ return false;
} //switch
+
+ return true;
}
-void
+bool
FEMDeformableBodyModel::initializeMassMatrix(const bool saveToDisk /*= false*/)
{
if (!m_forceModelGeometry)
{
LOG(WARNING) << "DeformableBodyModel::initializeMassMatrix Force model geometry not set!";
- return;
+ return false;
}
vega::SparseMatrix *vegaMatrix;
@@ -237,9 +274,11 @@ FEMDeformableBodyModel::initializeMassMatrix(const bool saveToDisk /*= false*/)
this->initializeEigenMatrixFromVegaMatrix(*vegaMatrix, m_M);
// TODO: Add option to save mass matrix to file
+
+ return true;
}
-void
+bool
FEMDeformableBodyModel::initializeDampingMatrix()
{
auto dampingLaplacianCoefficient = m_forceModelConfiguration->getFloatsOptionsMap().at("dampingLaplacianCoefficient");
@@ -250,13 +289,13 @@ FEMDeformableBodyModel::initializeDampingMatrix()
if (!m_damped)
{
- return;
+ return false;
}
- if (dampingLaplacianCoefficient <= 0.0)
+ if (dampingLaplacianCoefficient < 0.0)
{
LOG(WARNING) << "DeformableBodyModel::initializeDampingMatrix Damping coefficient is negative!";
- return;
+ return false;
}
auto imstkVolMesh = std::static_pointer_cast<VolumetricMesh>(m_forceModelGeometry);
@@ -267,7 +306,7 @@ FEMDeformableBodyModel::initializeDampingMatrix()
if (!meshGraph)
{
LOG(WARNING) << "DeformableBodyModel::initializeDampingMatrix: Mesh graph not avaliable!";
- return;
+ return false;
}
vega::SparseMatrix *matrix;
@@ -276,7 +315,7 @@ FEMDeformableBodyModel::initializeDampingMatrix()
if (!matrix)
{
LOG(WARNING) << "DeformableBodyModel::initializeDampingMatrix: Mesh Laplacian not avaliable!";
- return;
+ return false;
}
matrix->ScalarMultiply(dampingLaplacianCoefficient);
@@ -284,15 +323,17 @@ FEMDeformableBodyModel::initializeDampingMatrix()
m_vegaDampingMatrix.reset(matrix);
this->initializeEigenMatrixFromVegaMatrix(*matrix, m_C);
+
+ return true;
}
-void
+bool
FEMDeformableBodyModel::initializeTangentStiffness()
{
if (!m_internalForceModel)
{
LOG(WARNING) << "DeformableBodyModel::initializeTangentStiffness: Tangent stiffness cannot be initialized without force model";
- return;
+ return false;
}
vega::SparseMatrix *matrix;
@@ -301,13 +342,13 @@ FEMDeformableBodyModel::initializeTangentStiffness()
if (!matrix)
{
LOG(WARNING) << "DeformableBodyModel::initializeTangentStiffness - Tangent stiffness matrix topology not avaliable!";
- return;
+ return false;
}
if (!m_vegaMassMatrix)
{
LOG(WARNING) << "DeformableBodyModel::initializeTangentStiffness - Vega mass matrix doesn't exist!";
- return;
+ return false;
}
matrix->BuildSubMatrixIndices(*m_vegaMassMatrix.get());
@@ -331,9 +372,11 @@ FEMDeformableBodyModel::initializeTangentStiffness()
}
m_internalForceModel->setTangentStiffness(m_vegaTangentStiffnessMatrix);
+
+ return true;
}
-void
+bool
FEMDeformableBodyModel::initializeGravityForce()
{
m_Fgravity.resize(m_numDOF);
@@ -341,6 +384,8 @@ FEMDeformableBodyModel::initializeGravityForce()
const double gravity = m_forceModelConfiguration->getFloatsOptionsMap().at("gravity");
m_vegaPhysicsMesh->computeGravity(m_Fgravity.data(), gravity);
+
+ return true;
}
void
@@ -450,11 +495,13 @@ FEMDeformableBodyModel::computeImplicitSystemLHS(const kinematicState& stateAtT,
}
}
-void
+bool
FEMDeformableBodyModel::initializeExplicitExternalForces()
{
m_FexplicitExternal.resize(m_numDOF);
m_FexplicitExternal.setZero();
+
+ return true;
}
void
diff --git a/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h b/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
index 96d682189c6f1fd4ffd6853c855e832fc22316b5..b6ac2850ff78859c69095c066732724710fec8e3 100644
--- a/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
+++ b/Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h
@@ -110,37 +110,37 @@ public:
///
/// \brief Load the boundary conditions from external file
///
- void loadBoundaryConditions();
+ bool loadBoundaryConditions();
///
/// \brief Initialize the force model
///
- void initializeForceModel();
+ bool initializeForceModel();
///
/// \brief Initialize the mass matrix from the mesh
///
- void initializeMassMatrix(const bool saveToDisk = false);
+ bool initializeMassMatrix(const bool saveToDisk = false);
///
/// \brief Initialize the damping (combines structural and viscous damping) matrix
///
- void initializeDampingMatrix();
+ bool initializeDampingMatrix();
///
/// \brief Initialize the tangent stiffness matrix
///
- void initializeTangentStiffness();
+ bool initializeTangentStiffness();
///
/// \brief Initialize the gravity force
///
- void initializeGravityForce();
+ bool initializeGravityForce();
///
/// \brief Initialize explicit external forces
///
- void initializeExplicitExternalForces();
+ bool initializeExplicitExternalForces();
///
/// \brief Initialize the Eigen matrix with data inside vega sparse matrix
diff --git a/Base/DynamicalModels/ObjectModels/imstkPbdModel.cpp b/Base/DynamicalModels/ObjectModels/imstkPbdModel.cpp
index 03c33944251207ed13b554327f8ddc2280a1c79b..258a189ebed14aab017bac164d6c58683eef665d 100644
--- a/Base/DynamicalModels/ObjectModels/imstkPbdModel.cpp
+++ b/Base/DynamicalModels/ObjectModels/imstkPbdModel.cpp
@@ -147,22 +147,35 @@ PbdModel::initialize()
if (strncmp("Corotation", &s[pos], len) == 0)
{
- LOG(INFO) << "Creating Corotation constraints";
- this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::Corotation);
+ if (!this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::Corotation))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("NeoHookean", &s[pos], len) == 0)
{
- LOG(INFO) << "Creating Neohookean constraints";
- this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::NeoHookean);
+ if (!this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::NeoHookean))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("Stvk", &s[pos], len) == 0)
{
- LOG(INFO) << "Creating StVenant-Kirchhoff constraints";
- this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK);
+ if (!this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK))
+ {
+ return false;
+ }
+ ;
}
else
{ // default
- this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK);
+ if (!this->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK))
+ {
+ return false;
+ }
+ ;
}
float YoungModulus, PoissonRatio;
@@ -173,40 +186,56 @@ PbdModel::initialize()
{
float stiffness;
sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Volume constraints " << stiffness;
- this->initializeVolumeConstraints(stiffness);
+ if (!this->initializeVolumeConstraints(stiffness))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("Distance", &s[0], len) == 0)
{
float stiffness;
sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Distance constraints " << stiffness;
- this->initializeDistanceConstraints(stiffness);
+ if (!this->initializeDistanceConstraints(stiffness))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("Area", &s[0], len) == 0)
{
float stiffness;
sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Area constraints " << stiffness;
- this->initializeAreaConstraints(stiffness);
+ if (!this->initializeAreaConstraints(stiffness))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("Dihedral", &s[0], len) == 0)
{
float stiffness;
sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Dihedral constraints " << stiffness;
- this->initializeDihedralConstraints(stiffness);
+ if (!this->initializeDihedralConstraints(stiffness))
+ {
+ return false;
+ }
+ ;
}
else if (strncmp("ConstantDensity", &s[0], len) == 0)
{
float stiffness;
sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Constant Density constraints ";
- this->initializeConstantDensityConstraint(stiffness);
+ if (!this->initializeConstantDensityConstraint(stiffness))
+ {
+ return false;
+ }
+ ;
}
else
{
- exit(0);
+ LOG(WARNING) << "PbdModel::initialize() - Type of PBD constraints not identified!";
+ return false;
}
}
return true;
diff --git a/Base/Scene/imstkScene.cpp b/Base/Scene/imstkScene.cpp
index 7585394fe8626007ac35c09107078f296459cd70..2a3377ef79474123de880682ed31c12f849ab62d 100644
--- a/Base/Scene/imstkScene.cpp
+++ b/Base/Scene/imstkScene.cpp
@@ -27,6 +27,22 @@
namespace imstk
{
+
+bool
+Scene::initialize()
+{
+ for (auto const& it : m_sceneObjectsMap)
+ {
+ auto sceneObject = it.second;
+ if (!sceneObject->initialize())
+ {
+ LOG(WARNING) << "Error initializing scene object: " << sceneObject->getName();
+ return false;
+ }
+ }
+ return true;
+}
+
bool
Scene::isObjectRegistered(std::string sceneObjectName) const
{
diff --git a/Base/Scene/imstkScene.h b/Base/Scene/imstkScene.h
index 426d8e9783a28a7ef72f1b3428ee06af7ce60149..4443c8bdc49a8b4a3a7e450b9a0a35ffa45341b8 100644
--- a/Base/Scene/imstkScene.h
+++ b/Base/Scene/imstkScene.h
@@ -57,6 +57,11 @@ public:
///
~Scene() = default;
+ ///
+ /// \brief Initialize the scene
+ ///
+ bool initialize();
+
///
/// \brief Returns true if the object with a given name is registered, else false
///
diff --git a/Base/SceneElements/Objects/imstkCollidingObject.h b/Base/SceneElements/Objects/imstkCollidingObject.h
index 5a1fed3aafab53769eaf12349bff762edbbae256..1a4c343c45f5bf4ce649eed6e236bbf573ac4322 100644
--- a/Base/SceneElements/Objects/imstkCollidingObject.h
+++ b/Base/SceneElements/Objects/imstkCollidingObject.h
@@ -78,6 +78,21 @@ public:
///
virtual void updateGeometries() override;
+ ///
+ /// \brief Initialize the scene object
+ ///
+ virtual bool initialize()
+ {
+ if (SceneObject::initialize())
+ {
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+ }
+
protected:
std::shared_ptr<Geometry> m_collidingGeometry; ///> Geometry for collisions
diff --git a/Base/SceneElements/Objects/imstkDeformableObject.cpp b/Base/SceneElements/Objects/imstkDeformableObject.cpp
index 0e8ca53ead70d55d34e1261edd3ba8574c7c05cb..0b2ad8125b80e9d9a40178a21d34a6a031fea1ac 100644
--- a/Base/SceneElements/Objects/imstkDeformableObject.cpp
+++ b/Base/SceneElements/Objects/imstkDeformableObject.cpp
@@ -26,11 +26,9 @@ namespace imstk
Vectord&
DeformableObject::getContactForce()
{
- //m_defModel = std::dynamic_pointer_cast<imstk::DeformableBodyModel>(m_dynamicalModel);
-
if (!m_defModel)
{
- LOG(WARNING) << "Dynamics pointer cast failure in DeformableObject::getContactForce()";
+ LOG(WARNING) << "deformation model pointer not valid DeformableObject::getContactForce()";
}
return m_defModel->getContactForce();
@@ -40,12 +38,15 @@ bool
DeformableObject::initialize()
{
m_defModel = std::dynamic_pointer_cast<FEMDeformableBodyModel>(m_dynamicalModel);
- if (m_defModel == nullptr)
+ if (m_defModel)
+ {
+ return DynamicObject::initialize();
+ }
+ else
{
- LOG(WARNING) << "Dynamic model set is not of expected type (DeformableBodyModel)!";
+ LOG(WARNING) << "Dynamics pointer cast failure in DeformableObject::initialize()";
return false;
}
- return true;
}
const Vectord&
diff --git a/Base/SceneElements/Objects/imstkDeformableObject.h b/Base/SceneElements/Objects/imstkDeformableObject.h
index 24d3468043c46e39c17ce5dd976a1701ca28fb1f..4797896c6533b9f4ae45d4225d1b8efce7703b13 100644
--- a/Base/SceneElements/Objects/imstkDeformableObject.h
+++ b/Base/SceneElements/Objects/imstkDeformableObject.h
@@ -56,9 +56,9 @@ public:
~DeformableObject() = default;
///
- /// \brief
+ /// \brief Initialize the deformable object
///
- bool initialize();
+ bool initialize() override;
///
/// \brief Initialize the kinematic state of the body
diff --git a/Base/SceneElements/Objects/imstkDynamicObject.h b/Base/SceneElements/Objects/imstkDynamicObject.h
index 6f6aeb561ea28bb0315e0912ae20d4d636514440..e6010bde8dae62c5797beb5466d1f604d41e3863 100644
--- a/Base/SceneElements/Objects/imstkDynamicObject.h
+++ b/Base/SceneElements/Objects/imstkDynamicObject.h
@@ -114,6 +114,21 @@ public:
}
}
+ ///
+ /// \brief Initialize the scene object
+ ///
+ virtual bool initialize() override
+ {
+ if (CollidingObject::initialize())
+ {
+ return m_dynamicalModel->initialize();
+ }
+ else
+ {
+ return false;
+ }
+ }
+
protected:
///
@@ -122,12 +137,12 @@ protected:
DynamicObject(std::string name) : CollidingObject(name){}
std::shared_ptr<DynamicalModel<StateType>> m_dynamicalModel; ///> Dynamical model
- std::shared_ptr<Geometry> m_physicsGeometry; ///> Geometry used for Physics
+ std::shared_ptr<Geometry> m_physicsGeometry; ///> Geometry used for Physics
//Maps
- std::shared_ptr<GeometryMap> m_physicsToCollidingGeomMap; ///> Maps from Physics to collision geometry
- std::shared_ptr<GeometryMap> m_physicsToVisualGeomMap; ///> Maps from Physics to visual geometry
- bool m_updateVisualFromPhysicsGeometry = true; ///> Defines if visual is updated from colliding mapping or physics mapping
+ std::shared_ptr<GeometryMap> m_physicsToCollidingGeomMap; ///> Maps from Physics to collision geometry
+ std::shared_ptr<GeometryMap> m_physicsToVisualGeomMap; ///> Maps from Physics to visual geometry
+ bool m_updateVisualFromPhysicsGeometry = true; ///> Defines if visual is updated from colliding mapping or physics mapping
};
} // imstk
diff --git a/Base/SceneElements/Objects/imstkPbdObject.cpp b/Base/SceneElements/Objects/imstkPbdObject.cpp
index fbbdc70d0273ca533b71c69ca9b492711d0b6420..61537799d503cae7a14e12f517073a48aa2f0b33 100644
--- a/Base/SceneElements/Objects/imstkPbdObject.cpp
+++ b/Base/SceneElements/Objects/imstkPbdObject.cpp
@@ -27,155 +27,18 @@
namespace imstk
{
bool
-PbdObject::initialize(int nCons, ...)
+PbdObject::initialize()
{
- std::shared_ptr<PointSet> mesh = std::dynamic_pointer_cast<PointSet>(m_physicsGeometry);
- if (mesh == nullptr)
- {
- LOG(WARNING) << "Physics geometry is not a mesh!";
- return false;
- }
-
m_pbdModel = std::dynamic_pointer_cast<PbdModel>(m_dynamicalModel);
- if (m_pbdModel == nullptr)
- {
- LOG(WARNING) << "Dynamic model set is not of expected type (PbdModel)!";
- return false;
- }
-
- m_pbdModel->setModelGeometry(mesh);
- m_pbdModel->initialize();
-
- va_list args;
- va_start(args, nCons);
- for(int i = 0; i < nCons; ++i)
- {
- char* s = va_arg(args,char*);
- int len = 0;
- while (s[len] != ' ' && s[len] != '\0')
- {
- ++len;
- }
-
- if (strncmp("FEM",&s[0],len) == 0)
- {
- int pos = len+1;
- len = 0;
- while (s[pos+len] != ' ' && s[pos+len] != '\0')
- {
- ++len;
- }
-
- if (strncmp("Corotation",&s[pos],len) == 0)
- {
- LOG(INFO) << "Creating Corotation constraints";
- m_pbdModel->initializeFEMConstraints(PbdFEMConstraint::MaterialType::Corotation);
- }
- else if (strncmp("NeoHookean",&s[pos],len) == 0)
- {
- LOG(INFO) << "Creating Neohookean constraints";
- m_pbdModel->initializeFEMConstraints(PbdFEMConstraint::MaterialType::NeoHookean);
- }
- else if (strncmp("Stvk",&s[pos],len) == 0)
- {
- LOG(INFO) << "Creating StVenant-Kirchhoff constraints";
- m_pbdModel->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK);
- }
- else
- { // default
- m_pbdModel->initializeFEMConstraints(PbdFEMConstraint::MaterialType::StVK);
- }
-
- float YoungModulus, PoissonRatio;
- sscanf(&s[pos+len+1], "%f %f", &YoungModulus, &PoissonRatio);
- m_pbdModel->computeLameConstants(YoungModulus, PoissonRatio);
- }
- else if (strncmp("Volume",&s[0],len) == 0)
- {
- float stiffness;
- sscanf(&s[len+1], "%f", &stiffness);
- LOG(INFO) << "Creating Volume constraints " << stiffness;
- m_pbdModel->initializeVolumeConstraints(stiffness);
- }
- else if (strncmp("Distance",&s[0],len) == 0)
- {
- float stiffness;
- sscanf(&s[len+1], "%f", &stiffness);
- LOG(INFO) << "Creating Distance constraints " << stiffness;
- m_pbdModel->initializeDistanceConstraints(stiffness);
- }
- else if (strncmp("Area",&s[0],len) == 0)
- {
- float stiffness;
- sscanf(&s[len+1], "%f", &stiffness);
- LOG(INFO) << "Creating Area constraints " << stiffness;
- m_pbdModel->initializeAreaConstraints(stiffness);
- }
- else if (strncmp("Dihedral",&s[0],len) == 0)
- {
- float stiffness;
- sscanf(&s[len+1], "%f", &stiffness);
- LOG(INFO) << "Creating Dihedral constraints " << stiffness;
- m_pbdModel->initializeDihedralConstraints(stiffness);
- }
- else if (strncmp("ConstantDensity", &s[0], len) == 0)
- {
- float stiffness;
- sscanf(&s[len + 1], "%f", &stiffness);
- LOG(INFO) << "Creating Constant Density constraints ";
- m_pbdModel->initializeConstantDensityConstraint(stiffness);
- }
- else
- {
- exit(0);
- }
- }
-
- m_pbdModel->setUniformMass(va_arg(args, double));
-
- if (nCons > 0)
+ if (m_pbdModel)
{
- char* gstring = va_arg(args,char*);
- float x,y,z;
- sscanf(gstring,"%f %f %f", &x, &y, &z);
- Vec3d g(x,y,z);
- m_pbdModel->setGravity(g);
- m_pbdModel->setTimeStep(va_arg(args, double));
- char *s = va_arg(args,char*);
-
- if (strlen(s) > 0)
- {
- while (1)
- {
- int idx = atoi(s);
- m_pbdModel->setFixedPoint(idx - 1);
- while (*s != ' ' && *s != '\0')
- {
- ++s;
- }
-
- if (*s == '\0')
- {
- break;
- }
- else
- {
- ++s;
- }
- }
- }
- m_pbdModel->setMaxNumIterations(va_arg(args,int));
+ return DynamicObject::initialize();
}
-
- if (m_collidingGeometry)
+ else
{
- m_pbdModel->setProximity(va_arg(args,double));
- m_pbdModel->setContactStiffness(va_arg(args,double));
+ LOG(WARNING) << "Dynamics pointer cast failure in PbdObject::initialize()";
+ return false;
}
-
- m_pbdModel->setNumDegreeOfFreedom(m_pbdModel->getModelGeometry()->getNumVertices() * 3);
-
- return true;
}
void
diff --git a/Base/SceneElements/Objects/imstkPbdObject.h b/Base/SceneElements/Objects/imstkPbdObject.h
index b8f06e0d2f76a3771e58e8b98ba5434e2ad6ed1c..554f3fd6bba673ad70fe19c44a68ef0723182be3 100644
--- a/Base/SceneElements/Objects/imstkPbdObject.h
+++ b/Base/SceneElements/Objects/imstkPbdObject.h
@@ -56,10 +56,9 @@ public:
virtual ~PbdObject() = default;
///
- /// \brief Initialize the pbd configuration
- /// TODO: Parse from config file
+ /// \brief Initialize the pbd scene object
///
- bool initialize(int nCons, ...);
+ bool initialize() override;
///
/// \brief Update the position based on Verlet time stepping rule
diff --git a/Base/SceneElements/Objects/imstkSceneObject.h b/Base/SceneElements/Objects/imstkSceneObject.h
index 6b9655d007bd4fb445cacf584d44f4f2e17086ce..4e9b24a1967e390fea28ce79c295770c1ef5ef66 100644
--- a/Base/SceneElements/Objects/imstkSceneObject.h
+++ b/Base/SceneElements/Objects/imstkSceneObject.h
@@ -88,6 +88,11 @@ public:
///
virtual void updateGeometries() {};
+ ///
+ /// \brief Initialize the scene object
+ ///
+ virtual bool initialize(){ return true; };
+
protected:
///
/// \brief Assigns the type of the object