diff --git a/CMake/External/CMakeLists.txt b/CMake/External/CMakeLists.txt
index a60b70369204dc2662c31a518abea367dd7e3cfd..79de0e0df0f1d897ef9fc46be9c4b5b405fcfed0 100644
--- a/CMake/External/CMakeLists.txt
+++ b/CMake/External/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
#-----------------------------------------------------------------------------
# Output Directories
#-----------------------------------------------------------------------------
-if(NOT DEFINED CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+if(NOT DEFINED CMAKE_LIBRARY_OUTPUT_DIRECTORY)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${${PROJECT_NAME}_LIB_DIR})
endif()
if(NOT DEFINED CMAKE_ARCHIVE_OUTPUT_DIRECTORY)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b37a885c4b43ee50a0929100a2b2086ad061694..c42f5729c80b9466d10514ea026bd2e7d92d6213 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ set(CMAKE_MODULE_PATH
${CMAKE_CURRENT_SOURCE_DIR}/CMake/Utilities
${CMAKE_MODULE_PATH}
)
-set(${PROJECT_NAME}_CMAKE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
+set(${PROJECT_NAME}_CMAKE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
#-----------------------------------------------------------------------------
# Set a default build type if none was specified
diff --git a/Examples/CMakeLists.txt b/Examples/CMakeLists.txt
index 274d53b038823f1011fdf7148391817637a79409..30968b0f611e3aa4138e1be5c7a97e977435b4a0 100644
--- a/Examples/CMakeLists.txt
+++ b/Examples/CMakeLists.txt
@@ -16,6 +16,6 @@ macro(listOfSubDir result curdir)
foreach(subdir ${subDirs})
add_subdirectory(${subdir})
-endforeach()
+endforeach()
diff --git a/Examples/DeformableBody/CMakeLists.txt b/Examples/DeformableBody/CMakeLists.txt
index 3cca576ce0959b0ecf32f941d44584e0e117d9e0..725688edcd98318500b05718b577920bca4a4eb7 100644
--- a/Examples/DeformableBody/CMakeLists.txt
+++ b/Examples/DeformableBody/CMakeLists.txt
@@ -27,7 +27,7 @@ add_executable(${PROJECT_NAME} DeformableBody.cpp)
# Link libraries to executable
#-----------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME} SimulationManager)
-
+
#-----------------------------------------------------------------------------
# Add shaders
#-----------------------------------------------------------------------------
diff --git a/Examples/Picking/Picking.cpp b/Examples/Picking/Picking.cpp
index 0be9f4255db9fec75717e107e419701310bb0682..73805a90742f960175a9f83861bd52ba3cc09b5f 100644
--- a/Examples/Picking/Picking.cpp
+++ b/Examples/Picking/Picking.cpp
@@ -69,6 +69,7 @@ int main()
LOG(WARNING) << "Could not read mesh from file.";
return 1;
}
+ tetMesh->scale(10., Geometry::TransformType::ApplyToData);
// Extract the surface mesh
auto volTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(tetMesh);
if (!volTetMesh)
@@ -109,10 +110,9 @@ int main()
//----------------------------------------------------------
auto nlSystem = std::make_shared<NonLinearSystem>(dynaModel->getFunction(), dynaModel->getFunctionGradient());
std::vector<LinearProjectionConstraint> linProj;
- for (auto id : dynaModel->getFixNodeIds())
- {
- linProj.push_back(LinearProjectionConstraint(id, true));
- }
+ linProj.push_back(LinearProjectionConstraint(0, true));
+ linProj.push_back(LinearProjectionConstraint(2, true));
+
nlSystem->setUnknownVector(dynaModel->getUnknownVec());
nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
@@ -141,7 +141,7 @@ int main()
// Sphere0
auto sphereForPickObj = apiutils::createCollidingAnalyticalSceneObject(
- Geometry::Type::Sphere, scene, "Sphere0", 1, Vec3d(0., 0., 0.));
+ Geometry::Type::Sphere, scene, "Sphere0", 0.5, Vec3d(0., 0., 0.));
auto pickTrackingCtrl = std::make_shared<DeviceTracker>(client);
//pickTrackingCtrl->setTranslationOffset(Vec3d(0., 0., 24.));
diff --git a/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.cpp b/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.cpp
index 09b6030da2c3b9fd775a61b770b10815e0e7dad3..5986e3f74a690762a2bf884b4b65493916d4ee6b 100644
--- a/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.cpp
+++ b/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.cpp
@@ -41,6 +41,14 @@ LinearProjectionConstraint::setProjection(const size_t& nodeId, const Vec3d& p,
m_projection = Mat3d::Identity() - p*p.transpose() - q*q.transpose();
}
+void
+LinearProjectionConstraint::setProjectionToLine(const size_t& nodeId, const Vec3d& p)
+{
+ m_nodeId = nodeId;
+ auto v = p/p.norm();
+ m_projection = v*v.transpose();
+}
+
void
LinearProjectionConstraint::setProjectorToDirichlet(const unsigned int& nodeId, const Vec3d z)
{
diff --git a/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.h b/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.h
index 4fbdab7ac4f75fc033ddc3960b9fc03b7258151d..09e24f08f1d576fc8e481b7d9d2c93c7a0260c53 100644
--- a/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.h
+++ b/Source/Constraint/PbdConstraints/imstkLinearProjectionConstraint.h
@@ -50,6 +50,11 @@ public:
///
void setProjection(const size_t& nodeId, const Vec3d& p, const Vec3d& q = Vec3d::Zero());
+ ///
+ /// \brief Form the projection
+ ///
+ void setProjectionToLine(const size_t& nodeId, const Vec3d& p);
+
///
/// \brief Set the projector to simulate Dirichlet conditions
///
diff --git a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
index c6ab72f4363aa4ba27841ef2becd1ca8364ca072..e5bdee5ccba294f070c91dc0eb6d9ba136aad741 100644
--- a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
@@ -33,6 +33,7 @@ namespace imstk
FEMDeformableBodyModel::FEMDeformableBodyModel() :
DynamicalModel(DynamicalModelType::elastoDynamics)
{
+ m_fixedNodeIds.reserve(1000);
}
void
diff --git a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
index ed5be3e5ec042e66f797c455ffc8c98b98b9bd17..73c2258d15fd991b887cdf78b266d8943370abb8 100644
--- a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
+++ b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
@@ -80,7 +80,8 @@ VTKRenderer::VTKRenderer(std::shared_ptr<Scene> scene, const bool enableVR)
auto axes = vtkSmartPointer<vtkAxesActor>::New();
axes->SetShaftType(vtkAxesActor::CYLINDER_SHAFT);
axes->SetAxisLabels(false);
- m_debugVtkActors.push_back( axes );
+ axes->SetTotalLength(40, 40, 40);
+ m_debugVtkActors.push_back(axes);
// Camera and camera actor
if (!enableVR)
diff --git a/Source/SimulationManager/imstkSimulationManager.cpp b/Source/SimulationManager/imstkSimulationManager.cpp
index f2c2f4ab900f63c5cd66994ca77ddf7818e5ddbb..36c2176ca1cbc84a3d35ebb6ed53dd9e6b292b5e 100644
--- a/Source/SimulationManager/imstkSimulationManager.cpp
+++ b/Source/SimulationManager/imstkSimulationManager.cpp
@@ -450,6 +450,11 @@ SimulationManager::runSimulation()
LOG(INFO) << "Running simulation";
}
+ if (!m_simThreadLaunched)
+ {
+ this->launchSimulation();
+ }
+
// Run scene
m_sceneManagerMap.at(m_activeSceneName)->run();
diff --git a/Source/Solvers/imstkConjugateGradient.cpp b/Source/Solvers/imstkConjugateGradient.cpp
index 39f4865b9b5665295c3b30f69c51da04416af6d7..8834f30d65f9c08f2af0a0e8feae48b55d30476f 100644
--- a/Source/Solvers/imstkConjugateGradient.cpp
+++ b/Source/Solvers/imstkConjugateGradient.cpp
@@ -21,6 +21,8 @@
#include "imstkConjugateGradient.h"
+#include <iostream>
+
namespace imstk
{
ConjugateGradient::ConjugateGradient()
@@ -38,19 +40,14 @@ ConjugateGradient::ConjugateGradient(const SparseMatrixd& A, const Vectord& rhs)
void
ConjugateGradient::applyLinearProjectionFilter(Vectord& x, const std::vector<LinearProjectionConstraint>& linProj, const bool setVal)
{
- Vec3d p;
for (auto &localProjector : linProj)
{
const auto threeI = 3 * localProjector.getNodeId();
- p = Vec3d(x(threeI), x(threeI + 1), x(threeI + 2));
+ Vec3d p = localProjector.getProjector()*Vec3d(x(threeI), x(threeI + 1), x(threeI + 2));
- if (!setVal)
- {
- p = localProjector.getProjector()*p;
- }
- else
+ if (setVal)
{
- p = (Mat3d::Identity() - localProjector.getProjector())*localProjector.getValue();
+ p += (Mat3d::Identity() - localProjector.getProjector())*localProjector.getValue();
}
x(threeI) = p.x();
@@ -68,7 +65,7 @@ ConjugateGradient::solve(Vectord& x)
return;
}
- if (m_FixedLinearProjConstraints->size() == 0)
+ if (!(m_FixedLinearProjConstraints || m_DynamicLinearProjConstraints))
{
x = m_cgSolver.solve(m_linearSystem->getRHSVector());
}
@@ -86,12 +83,25 @@ ConjugateGradient::modifiedCGSolve(Vectord& x)
// Set the initial guess to zero
x.setZero();
- applyLinearProjectionFilter(x, *m_DynamicLinearProjConstraints, true);
- applyLinearProjectionFilter(x, *m_FixedLinearProjConstraints, true);
+ if (m_DynamicLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(x, *m_DynamicLinearProjConstraints, true);
+ }
+
+ if (m_FixedLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(x, *m_FixedLinearProjConstraints, true);
+ }
auto res = b;
- applyLinearProjectionFilter(res, *m_DynamicLinearProjConstraints, false);
- applyLinearProjectionFilter(res, *m_FixedLinearProjConstraints, false);
+ if (m_DynamicLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(res, *m_DynamicLinearProjConstraints, false);
+ }
+ if (m_FixedLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(res, *m_FixedLinearProjConstraints, false);
+ }
auto c = res;
auto delta = res.dot(res);
auto deltaPrev = delta;
@@ -104,8 +114,14 @@ ConjugateGradient::modifiedCGSolve(Vectord& x)
while (delta > eps)
{
q = A * c;
- applyLinearProjectionFilter(q, *m_DynamicLinearProjConstraints, false);
- applyLinearProjectionFilter(q, *m_FixedLinearProjConstraints, false);
+ if (m_DynamicLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(q, *m_DynamicLinearProjConstraints, false);
+ }
+ if (m_FixedLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(q, *m_FixedLinearProjConstraints, false);
+ }
dotval = c.dot(q);
if (dotval != 0.0)
{
@@ -122,12 +138,18 @@ ConjugateGradient::modifiedCGSolve(Vectord& x)
delta = res.dot(res);
c *= delta / deltaPrev;
c += res;
- applyLinearProjectionFilter(c, *m_DynamicLinearProjConstraints, false);
- applyLinearProjectionFilter(c, *m_FixedLinearProjConstraints, false);
+ if (m_DynamicLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(c, *m_DynamicLinearProjConstraints, false);
+ }
+ if (m_FixedLinearProjConstraints)
+ {
+ applyLinearProjectionFilter(c, *m_FixedLinearProjConstraints, false);
+ }
if (++iterNum >= m_maxIterations)
{
- LOG(WARNING) << "ConjugateGradient::modifiedCGSolve - The solver did not converge after max. iterations";
+ //LOG(WARNING) << "ConjugateGradient::modifiedCGSolve - The solver did not converge after max. iterations";
break;
}
}
diff --git a/Source/Solvers/imstkConjugateGradient.h b/Source/Solvers/imstkConjugateGradient.h
index cf16aafdbbc6013546b1e4a9f5fa2dfbaed85afc..544150ddc3df64678e772df7d6d7ba6d1bfca286 100644
--- a/Source/Solvers/imstkConjugateGradient.h
+++ b/Source/Solvers/imstkConjugateGradient.h
@@ -98,6 +98,7 @@ public:
///
void applyLinearProjectionFilter(Vectord& x, const std::vector<LinearProjectionConstraint>& linProj, const bool setVal);
+ ///
/// \brief Get the vector denoting the filter
///
void setLinearProjectors(std::vector<LinearProjectionConstraint>* f)