fix minor bugs

Base/SceneElements/Objects/imstkPbdObject.cpp

@@ -126,6 +126,9 @@ void PbdObject::init(int nCons, ...)
             exit(0);
         }
     }
+
+    state->setUniformMass(va_arg(args,double));
+
     if (nCons > 0)
     {
         char* gstring = va_arg(args,char*);
@@ -148,8 +151,6 @@ void PbdObject::init(int nCons, ...)
         m_pbdModel->setNumberOfInterations(va_arg(args,int));
     }
 
-    state->setUniformMass(va_arg(args,double));
-
     if (m_physicsToCollidingGeomMap && m_collidingGeometry)
     {
         m_pbdModel->setProximity(va_arg(args,double));

Base/SceneElements/Objects/imstkPbdState.cpp

@@ -2,32 +2,14 @@
 
 namespace imstk {
 
-void PbdState::computeAABB(double &min_x, double &max_x, double &min_y, double &max_y, double &min_z, double &max_z)
-{
-    min_x = 1e6;
-    max_x = -1e6;
-    min_y = 1e6;
-    max_y = -1e6;
-    min_z = 1e6;
-    max_z = -1e6;
-    for (int i = 0; i < m_pos.size(); ++i) {
-       Vec3d& p = m_pos[i];
-       if (p[0] < min_x) min_x = p[0];
-       if (p[0] > max_x) max_x = p[0];
-       if (p[1] < min_y) min_y = p[1];
-       if (p[1] > max_y) max_y = p[1];
-       if (p[2] < min_z) min_z = p[2];
-       if (p[2] > max_z) max_z = p[2];
-    }
-}
-
 void PbdState::integratePosition()
 {
     for (int i = 0; i < m_pos.size(); ++i) {
-       if (m_invMass[i] > 0) {
+       if (m_invMass[i] !=  0.0) {
            m_vel[i] += (m_acc[i] + gravity)*dt;
            m_oldPos[i] = m_pos[i];
            m_pos[i] += m_vel[i]*dt;
+
        }
     }
 }
@@ -35,7 +17,7 @@ void PbdState::integratePosition()
 void PbdState::integrateVelocity()
 {
     for (int i = 0; i < m_pos.size(); ++i) {
-       if (m_invMass[i] > 0) {
+       if (m_invMass[i] != 0.0) {
            m_vel[i] = (m_pos[i] - m_oldPos[i])/dt;
        }
     }

Base/SceneElements/Objects/imstkPbdState.h

@@ -60,7 +60,7 @@ public:
     }
 
     inline void setFixedPoint(const unsigned int& idx)
-    {
+    {        
         if ( idx < m_pos.size())
             m_invMass[idx] = 0;
     }
@@ -88,7 +88,6 @@ public:
 
     void integrateVelocity();
 
-    void computeAABB(double& min_x, double& max_x, double& min_y, double& max_y, double& min_z, double& max_z);
 };
 
 }

Examples/Sandbox/main.cpp

@@ -925,11 +925,12 @@ void testPbdVolume()
     deformableObj->setPhysicsToVisualMap(oneToOneNodalMap); //assign the computed map
     deformableObj->init(/*Number of Constraints*/1,
                         /*Constraint configuration*/"FEM NeoHookean 100.0 0.3",
+                        /*Mass*/1.0,
                         /*Gravity*/"0 -9.8 0",
                         /*TimeStep*/0.001,
                         /*FixedPoint*/"51 127 178",
-                        /*NumberOfIterationInConstraintSolver*/5,
-                        /*Mass*/1.0);
+                        /*NumberOfIterationInConstraintSolver*/5
+                        );
 
     scene->addSceneObject(deformableObj);
 
@@ -1009,11 +1010,12 @@ void testPbdCloth()
     deformableObj->init(/*Number of constraints*/2,
                         /*Constraint configuration*/"Distance 0.1",
                         /*Constraint configuration*/"Dihedral 0.001",
+                        /*Mass*/1.0,
                         /*Gravity*/"0 -9.8 0",
                         /*TimeStep*/0.001,
                         /*FixedPoint*/"1 20",
-                        /*NumberOfIterationInConstraintSolver*/5,
-                        /*Mass*/1.0);
+                        /*NumberOfIterationInConstraintSolver*/5
+                        );
 
     scene->addSceneObject(deformableObj);
     sdk->setCurrentScene("PositionBasedDynamicsTest");
@@ -1055,11 +1057,11 @@ void testPbdCollision()
     deformableObj->setPhysicsToVisualMap(oneToOneNodalMap); //assign the computed map
     deformableObj->init(/*Number of Constraints*/1,
                         /*Constraint configuration*/"FEM NeoHookean 100.0 0.3",
+                        /*Mass*/1.0,
                         /*Gravity*/"0 -9.8 0",
                         /*TimeStep*/0.001,
                         /*FixedPoint*/"",
                         /*NumberOfIterationInConstraintSolver*/5,
-                        /*Mass*/1.0,
                         /*Proximity*/0.1,
                         /*Contact stiffness*/0.01);