diff --git a/Source/CollisionDetection/Testing/imstkCollisionDataTest.cpp b/Source/CollisionDetection/Testing/imstkCollisionDataTest.cpp
index c8076ffe523c858273768d6d12531f17b31d3f64..27dec0ccfb5be721144ee9522e1a5ec8c266c868 100644
--- a/Source/CollisionDetection/Testing/imstkCollisionDataTest.cpp
+++ b/Source/CollisionDetection/Testing/imstkCollisionDataTest.cpp
@@ -1,35 +1,57 @@
+/*=========================================================================
+
+ 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 "gtest/gtest.h"
#include "imstkCollisionData.h"
using namespace imstk;
-namespace {
+namespace
+{
}
struct imstkCollisionElementTest : public ::testing::Test
{
imstkCollisionElementTest()
{
- cv.pts[0] = Vec3d{ 1,2,3 };
- cv.pts[1] = Vec3d{ 2,3,4 };
- cv.pts[2] = Vec3d{ 3,4,5 };
- cv.pts[3] = Vec3d{ 4,5,6 };
- cv.size = 10;
-
- ci.ids[0] = 7;
- ci.ids[1] = 8;
- ci.ids[2] = 9;
- ci.ids[3] = 10;
- ci.idCount = 11;
+ cv.pts[0] = Vec3d{ 1, 2, 3 };
+ cv.pts[1] = Vec3d{ 2, 3, 4 };
+ cv.pts[2] = Vec3d{ 3, 4, 5 };
+ cv.pts[3] = Vec3d{ 4, 5, 6 };
+ cv.size = 10;
+
+ ci.ids[0] = 7;
+ ci.ids[1] = 8;
+ ci.ids[2] = 9;
+ ci.ids[3] = 10;
+ ci.idCount = 11;
ci.cellType = IMSTK_VERTEX;
- pd.pt = Vec3d{ 2,3,4 };
- pd.dir = Vec3d{ 4,5,6 };
+ pd.pt = Vec3d{ 2, 3, 4 };
+ pd.dir = Vec3d{ 4, 5, 6 };
pd.penetrationDepth = 12.0;
pi.ptIndex = 13;
- pi.dir = Vec3d{ 3,4,5 };
+ pi.dir = Vec3d{ 3, 4, 5 };
pi.penetrationDepth = 2.0;
};
@@ -62,7 +84,7 @@ TEST_F(imstkCollisionElementTest, Constructor)
EXPECT_EQ(CollisionElementType::PointDirection, e.m_type);
EXPECT_EQ(pd.dir, e.m_element.m_PointDirectionElement.dir);
EXPECT_EQ(pd.penetrationDepth, e.m_element.m_PointDirectionElement.penetrationDepth);
- }
+ }
{
CollisionElement e(pi);
EXPECT_EQ(CollisionElementType::PointIndexDirection, e.m_type);
diff --git a/Source/Common/imstkMath.h b/Source/Common/imstkMath.h
index 87a8fa4c10c9aa64760aa468cd881942a0efd469..5d1ae9a955152902ce59cfe977e760318e4c914d 100644
--- a/Source/Common/imstkMath.h
+++ b/Source/Common/imstkMath.h
@@ -109,7 +109,7 @@ using Mat3d = Eigen::Matrix<double, 3, 3>;
using StdVectorOfMat3d = std::vector<Mat3d, Eigen::aligned_allocator<Mat3d>>;
// 4x4 Matrix
-using Mat4f = Eigen::Matrix<float, 4, 4> ;
+using Mat4f = Eigen::Matrix<float, 4, 4>;
using Mat4d = Eigen::Matrix<double, 4, 4>;
/// A dynamic size matrix of floats
diff --git a/Source/Devices/imstkHapticDeviceClient.h b/Source/Devices/imstkHapticDeviceClient.h
index 2be1abea809b4aa7a37a6a1317043addff00135b..8dd0559b57a05b4fee5d1047f657b28b4053c2d4 100644
--- a/Source/Devices/imstkHapticDeviceClient.h
+++ b/Source/Devices/imstkHapticDeviceClient.h
@@ -79,7 +79,7 @@ private:
/// \brief Phantom omni device api callback
///
#ifndef HDCALLBACK
-#define HDCALLBACK
+#define HDCALLBACK
#endif
typedef unsigned int HDCallbackCode;
static HDCallbackCode HDCALLBACK hapticCallback(void* pData);
diff --git a/Source/MeshIO/imstkAssimpMeshIO.cpp b/Source/MeshIO/imstkAssimpMeshIO.cpp
index 962a41393abb58ffcc0c15cbb1796721925836f9..11a0afe1d2f23f3e54ad9ae0de53ee42c5846552 100644
--- a/Source/MeshIO/imstkAssimpMeshIO.cpp
+++ b/Source/MeshIO/imstkAssimpMeshIO.cpp
@@ -81,8 +81,8 @@ AssimpMeshIO::convertAssimpMesh(aiMesh* importedMesh)
auto mesh = std::make_shared<SurfaceMesh>(std::string(importedMesh->mName.C_Str()));
// Get mesh information
- auto numVertices = importedMesh->mNumVertices;
- auto numTriangles = importedMesh->mNumFaces;
+ auto numVertices = importedMesh->mNumVertices;
+ auto numFaces = importedMesh->mNumFaces;
if (numVertices == 0)
{
@@ -103,17 +103,20 @@ AssimpMeshIO::convertAssimpMesh(aiMesh* importedMesh)
}
// Triangles
- std::shared_ptr<VecDataArray<int, 3>> trianglesPtr = std::make_shared<VecDataArray<int, 3>>(numTriangles);
- VecDataArray<int, 3>& triangles = *trianglesPtr;
+ auto trianglesPtr = std::make_shared<VecDataArray<int, 3>>();
+ trianglesPtr->reserve(numFaces);
+ VecDataArray<int, 3>& triangles = *trianglesPtr;
- for (unsigned int i = 0; i < numTriangles; i++)
+ for (unsigned int i = 0; i < numFaces; i++)
{
- auto triangle = importedMesh->mFaces[i];
- auto indices = triangle.mIndices;
- triangles[i][0] = indices[0];
- triangles[i][1] = indices[1];
- triangles[i][2] = indices[2];
+ aiFace triangle = importedMesh->mFaces[i];
+ unsigned int* indices = triangle.mIndices;
+ if (triangle.mNumIndices == 3) // Only supports triangles
+ {
+ triangles.push_back(Vec3i(indices[0], indices[1], indices[2]));
+ }
}
+ trianglesPtr->squeeze();
// Vertex normals, tangents, and bitangents
std::shared_ptr<VecDataArray<double, 3>> normalsPtr = std::make_shared<VecDataArray<double, 3>>(numVertices);
diff --git a/Source/Scene/imstkScene.h b/Source/Scene/imstkScene.h
index cd6377feedb25a4a93d0c7a4c3a5a6539f17953a..bee0b22083e9f9db8c3a8b184090ae7507b91dd8 100644
--- a/Source/Scene/imstkScene.h
+++ b/Source/Scene/imstkScene.h
@@ -185,8 +185,7 @@ public:
///
/// \brief Get and unordered map of cameras with names
///
- const std::unordered_map<std::string, std::shared_ptr<Camera>>&
- getCameras() const { return m_cameras; }
+ const std::unordered_map<std::string, std::shared_ptr<Camera>>& getCameras() const { return m_cameras; }
///
/// \brief Add light from the scene