From 405f150e3b69285c14e06067f6a39aac5fdaf3bf Mon Sep 17 00:00:00 2001
From: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>
Date: Mon, 24 Apr 2017 12:11:41 -0400
Subject: [PATCH] ENH: Adds test example for bone drilling
---
Base/Collision/CMakeLists.txt | 1 +
.../CollisionHandling/imstkPickingCH.h | 2 +
Examples/Sandbox/main.cpp | 74 ++++++++++++++++++-
3 files changed, 76 insertions(+), 1 deletion(-)
diff --git a/Base/Collision/CMakeLists.txt b/Base/Collision/CMakeLists.txt
index 5322eb1b1..b7aafdff7 100644
--- a/Base/Collision/CMakeLists.txt
+++ b/Base/Collision/CMakeLists.txt
@@ -7,6 +7,7 @@ imstk_add_library( Collision
SCCD
Geometry
SceneElements
+ DynamicalModels
)
#-----------------------------------------------------------------------------
diff --git a/Base/Collision/CollisionHandling/imstkPickingCH.h b/Base/Collision/CollisionHandling/imstkPickingCH.h
index 88113eba1..2465706ef 100644
--- a/Base/Collision/CollisionHandling/imstkPickingCH.h
+++ b/Base/Collision/CollisionHandling/imstkPickingCH.h
@@ -71,6 +71,7 @@ public:
///
void addPickConstraints(std::shared_ptr<DeformableObject> deformableObj);
+ ///
/// \brief Get the vector denoting the filter
///
void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
@@ -78,6 +79,7 @@ public:
m_DynamicLinearProjConstraints = f;
}
+ ///
/// \brief Get the vector denoting the filter
///
std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index 15b344153..b96ed3cc8 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -32,6 +32,7 @@
// Objects
#include "imstkForceModelConfig.h"
#include "imstkFEMDeformableBodyModel.h"
+#include "imstkDynamicObject.h"
#include "imstkDeformableObject.h"
#include "imstkSceneObject.h"
#include "imstkLight.h"
@@ -77,6 +78,7 @@
#include "imstkVirtualCouplingCH.h"
#include "imstkMeshToSpherePickingCD.h"
#include "imstkPickingCH.h"
+#include "imstkBoneDrillingCH.h"
// logger
#include "g3log/g3log.hpp"
@@ -133,6 +135,7 @@ void testCapsule();
void testVirtualCoupling();
void testGeometryTransforms();
void testPicking();
+void testBoneDrilling();
int main()
{
@@ -204,6 +207,7 @@ int main()
//testScenesManagement();
//testVectorPlotters();
//testVirtualCoupling();
+ testBoneDrilling();
return 0;
@@ -2577,6 +2581,7 @@ void testGeometryTransforms()
sdk->startSimulation(false);
}
+
void testPicking()
{
// SDK and Scene
@@ -2587,7 +2592,7 @@ void testPicking()
// Create plane visual scene object
//----------------------------------------------------------
auto planeObj = apiutils::createVisualAnalyticalSceneObject(
- imstk::Geometry::Type::Plane, scene, "VisualPlane", 100, Vec3d(0., -20., 0.));
+ imstk::Geometry::Type::Plane, scene, "VisualPlane", 100, Vec3d(0., -20., 0.));
//----------------------------------------------------------
// Create Nidus FE deformable scene object
@@ -2705,3 +2710,70 @@ void testPicking()
sdk->setCurrentScene(scene);
sdk->startSimulation(true);
}
+
+
+void testBoneDrilling()
+{
+ // SDK and Scene
+ auto sdk = std::make_shared<imstk::SimulationManager>();
+ auto scene = sdk->createNewScene("BoneDrilling");
+
+ // Add virtual coupling object in the scene.
+#ifdef iMSTK_USE_OPENHAPTICS
+
+ // Device clients
+ auto client = std::make_shared<imstk::HDAPIDeviceClient>("Default Device");
+
+ // Device Server
+ auto server = std::make_shared<imstk::HDAPIDeviceServer>();
+ server->addDeviceClient(client);
+ sdk->addModule(server);
+
+ // Device tracker
+ auto deviceTracker = std::make_shared<imstk::DeviceTracker>(client);
+
+ // Create bone scene object
+ // Load the mesh
+ auto tetMesh = imstk::MeshIO::read(iMSTK_DATA_ROOT"/asianDragon/asianDragon.veg");
+ if (!tetMesh)
+ {
+ LOG(WARNING) << "Could not read mesh from file.";
+ return;
+ }
+ auto bone = std::make_shared<CollidingObject>("Bone");
+ bone->setCollidingGeometry(tetMesh);
+ bone->setVisualGeometry(tetMesh);
+ scene->addSceneObject(bone);
+
+ // Create a virtual coupling object: Drill
+ auto drillVisualGeom = std::make_shared<imstk::Sphere>();
+ drillVisualGeom->setRadius(3.);
+ auto drillCollidingGeom = std::make_shared<imstk::Sphere>();
+ drillCollidingGeom->setRadius(3.);
+ auto drill = std::make_shared<CollidingObject>("Drill");
+ drill->setCollidingGeometry(drillCollidingGeom);
+ drill->setVisualGeometry(drillVisualGeom);
+ scene->addSceneObject(drill);
+
+ // Create and add virtual coupling object controller in the scene
+ auto objController = std::make_shared<imstk::SceneObjectController>(drill, deviceTracker);
+ scene->addObjectController(objController);
+
+ // Create a collision graph
+ auto graph = scene->getCollisionGraph();
+ auto pair = graph->addInteractionPair(bone,
+ drill,
+ CollisionDetection::Type::MeshToSphere,
+ CollisionHandling::Type::BoneDrilling,
+ CollisionHandling::Type::None);
+
+#endif
+
+ //Run
+ auto cam = scene->getCamera();
+ cam->setPosition(imstk::Vec3d(0, 0, 15));
+
+ sdk->setCurrentScene(scene);
+ sdk->startSimulation(false);
+}
+
--
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