diff --git a/CMake/External/External_VTK.cmake b/CMake/External/External_VTK.cmake
index d664264ff024cfbae4703d69d2d1ce98509ffa6d..c9a55f7313cb6cf38f7d3ad8a1e96ce77450e552 100644
--- a/CMake/External/External_VTK.cmake
+++ b/CMake/External/External_VTK.cmake
@@ -10,78 +10,47 @@ endif()
set(${PROJECT_NAME}_VTK_REPO_SOURCE "9.0" CACHE STRING "Select VTK Source Branch/Tag")
-set(VTK_SOURCES "8.2;8.9;9.0;master;release;nightly-master" CACHE INTERNAL "List of available VTK branch,tags to get")
+set(VTK_SOURCES "9.0;master;release;nightly-master" CACHE INTERNAL "List of available VTK branch,tags to get")
set_property(CACHE ${PROJECT_NAME}_VTK_REPO_SOURCE PROPERTY STRINGS ${VTK_SOURCES})
+
+if (${${PROJECT_NAME}_ENABLE_OPENVR})
+ set(VTK_OPENVR "WANT")
+else()
+ set(VTK_OPENVR "DONT_WANT")
+endif()
+set(VTK_MODULE_SETTINGS
+ -DVTK_MODULE_ENABLE_VTK_ChartsCore:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_RenderingOpenGL2:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOExport:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOImport:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOParallel:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOParallelXML:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOXML:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOLegacy:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOPLY:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_IOGeometry:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_InteractionStyle:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_RenderingAnnotation:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_RenderingOpenVR:STRING=${VTK_OPENVR}
+ -DVTK_MODULE_ENABLE_VTK_InteractionWidgets:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_glew:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_RenderingContext2D:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_RenderingVolumeOpenGL2:STRING=YES
+ -DVTK_MODULE_ENABLE_VTK_ViewsContext2D:STRING=YES
+ -DVTK_BUILD_EXAMPLES:STRING=DONT_WANT
+ -DVTK_BUILD_TESTING:STRING=OFF
+ -DVTK_GROUP_ENABLE_StandAlone:STRING=DONT_WANT
+ -DVTK_GROUP_ENABLE_Rendering:STRING=DONT_WANT
+-DVTK_MODULE_ENABLE_MODULE_FiltersModeling:STRING=YES
+-DVTK_MODULE_ENABLE_MODULE_FiltersExtraction:STRING=YES
+ )
+set(${PROJECT_NAME}_VTK_SOURCE GIT_REPOSITORY https://gitlab.kitware.com/vtk/vtk.git)
-if(${PROJECT_NAME}_VTK_REPO_SOURCE EQUAL "8.2")
- set(VTK_MODULE_SETTINGS
- -DModule_vtkChartsCore:BOOL=ON
- -DModule_vtkRenderingOpenGL2:BOOL=ON
- -DModule_vtkIOXML:BOOL=ON
- -DModule_vtkIOLegacy:BOOL=ON
- -DModule_vtkIOPLY:BOOL=ON
- -DModule_vtkIOGeometry:BOOL=ON
- -DModule_vtkInteractionStyle:BOOL=ON
- -DModule_vtkRenderingAnnotation:BOOL=ON
- -DModule_vtkRenderingOpenVR:BOOL=${${PROJECT_NAME}_ENABLE_VR}
- -DModule_vtkInteractionWidgets:BOOL=ON
- -DModule_vtkglew:BOOL=ON
- -DModule_vtkRenderingContext2D:BOOL=ON
- -DModule_vtkRenderingVolumeOpenGL2:BOOL=ON
- -DModule_vtkViewsContext2D:BOOL=ON
- -DBUILD_EXAMPLES:BOOL=OFF
- -DBUILD_TESTING:BOOL=OFF
- -DVTK_Group_StandAlone:BOOL=OFF
- -DVTK_Group_Rendering:BOOL=OFF
- )
- set(${PROJECT_NAME}_VTK_SOURCE URL https://gitlab.kitware.com/vtk/vtk/-/archive/v8.2.0/vtk-v8.2.0.tar.gz)
- set(${PROJECT_NAME}_VTK_HASH URL_HASH MD5=4115fb396f99466fe444472f412118cd)
+if(${PROJECT_NAME}_VTK_REPO_SOURCE EQUAL "9.0")
+ set(${PROJECT_NAME}_VTK_HASH GIT_TAG ab278e87b181e3a02082bea7361fbaa3ddafb3ad)
else()
-
- if (${${PROJECT_NAME}_ENABLE_OPENVR})
- set(VTK_OPENVR "WANT")
- else()
- set(VTK_OPENVR "DONT_WANT")
- endif()
-
- set(VTK_MODULE_SETTINGS
- -DVTK_MODULE_ENABLE_VTK_ChartsCore:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_RenderingOpenGL2:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOExport:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOImport:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOParallel:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOParallelXML:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOXML:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOLegacy:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOPLY:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_IOGeometry:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_InteractionStyle:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_RenderingAnnotation:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_RenderingOpenVR:STRING=${VTK_OPENVR}
- -DVTK_MODULE_ENABLE_VTK_InteractionWidgets:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_glew:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_RenderingContext2D:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_RenderingVolumeOpenGL2:STRING=YES
- -DVTK_MODULE_ENABLE_VTK_ViewsContext2D:STRING=YES
- -DVTK_BUILD_EXAMPLES:STRING=DONT_WANT
- -DVTK_BUILD_TESTING:STRING=OFF
- -DVTK_GROUP_ENABLE_StandAlone:STRING=DONT_WANT
- -DVTK_GROUP_ENABLE_Rendering:STRING=DONT_WANT
- -DVTK_MODULE_ENABLE_MODULE_FiltersModeling:STRING=YES
- -DVTK_MODULE_ENABLE_MODULE_FiltersExtraction:STRING=YES
- )
- set(${PROJECT_NAME}_VTK_SOURCE GIT_REPOSITORY https://gitlab.kitware.com/vtk/vtk.git)
-
- # TODO Update to a zip download when there is a new version after 8.2
- if(${PROJECT_NAME}_VTK_REPO_SOURCE EQUAL "8.9")
- set(${PROJECT_NAME}_VTK_HASH GIT_TAG 9b6a039f43404053a0653f742148d123f6ada7d6)
- elseif(${PROJECT_NAME}_VTK_REPO_SOURCE EQUAL "9.0")
- set(${PROJECT_NAME}_VTK_HASH GIT_TAG ab278e87b181e3a02082bea7361fbaa3ddafb3ad)
- else()
- set(${PROJECT_NAME}_VTK_HASH GIT_TAG origin/${${PROJECT_NAME}_VTK_REPO_SOURCE})
- endif()
-
+ set(${PROJECT_NAME}_VTK_HASH GIT_TAG origin/${${PROJECT_NAME}_VTK_REPO_SOURCE})
endif()
#-----------------------------------------------------------------------------
@@ -100,6 +69,6 @@ imstk_add_external_project( VTK
#VERBOSE
)
if(NOT USE_SYSTEM_VTK)
- set(VTK_DIR ${CMAKE_INSTALL_PREFIX}/lib/cmake/vtk-8.2)
+ set(VTK_DIR ${CMAKE_INSTALL_PREFIX}/lib/cmake/vtk-9.0)
#message(STATUS "VTK_DIR : ${VTK_DIR}")
endif()
diff --git a/CMake/External/Patches/vtk-8.2.cmake b/CMake/External/Patches/vtk-8.2.cmake
deleted file mode 100644
index 3992e6d06e1a088b1ed83591765de6cc45ea3d02..0000000000000000000000000000000000000000
--- a/CMake/External/Patches/vtk-8.2.cmake
+++ /dev/null
@@ -1,6 +0,0 @@
-message(STATUS "Patching VTK")
-
-file(COPY ${VTK_SOURCE_DIR}/Common/Core/vtkEventData.h
- DESTINATION ${CMAKE_INSTALL_PREFIX}/include/vtk-8.2/)
-file(COPY ${VTK_SOURCE_DIR}/Rendering/OpenVR/vtkOpenVROverlayInternal.h
- DESTINATION ${CMAKE_INSTALL_PREFIX}/include/vtk-8.2/)
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 99332186cf2b736c3d4c69d75d426b6ae8bbbfcb..c1f28d9cf750c655f7e9068e9d423071bfabc46c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -274,37 +274,30 @@ endif()
# VTK
find_package(VTK CONFIG)
-if (VTK_VERSION VERSION_LESS "8.90")
- # Modules are linked via `vtkCommonCore`
- # VTK_DEFINITIONS has autoinit information
- find_package(VTK REQUIRED)
- include(${VTK_USE_FILE})
-else()
- # modules are linked via `VTK::CommonCore`
- # vtk_module_autoinit is needed
- find_package(VTK COMPONENTS
- ChartsCore
- CommonCore
- CommonDataModel
- FiltersGeneral
- FiltersSources
- FiltersModeling
- FiltersExtraction
- IOExport
- IOImport
- IOPLY
- IOParallel
- IOParallelXML
- ImagingCore
- InteractionStyle
- RenderingAnnotation
- RenderingCore
- RenderingOpenGL2
- RenderingVolume
- RenderingVolumeOpenGL2
- ViewsContext2D
- )
-endif()
+# modules are linked via `VTK::CommonCore`
+# vtk_module_autoinit is needed
+find_package(VTK COMPONENTS
+ ChartsCore
+ CommonCore
+ CommonDataModel
+ FiltersGeneral
+ FiltersSources
+FiltersModeling
+FiltersExtraction
+ IOExport
+ IOImport
+ IOPLY
+ IOParallel
+ IOParallelXML
+ ImagingCore
+ InteractionStyle
+ RenderingAnnotation
+ RenderingCore
+ RenderingOpenGL2
+ RenderingVolume
+ RenderingVolumeOpenGL2
+ ViewsContext2D
+)
# Vulkan
set(Vulkan_Dependency)
diff --git a/Data/armadillo/armadillo_volume.vtk.sha512 b/Data/armadillo/armadillo_volume.vtk.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..67c4809c3b251ea7a3f613f3b7518ae3d6f60e20
--- /dev/null
+++ b/Data/armadillo/armadillo_volume.vtk.sha512
@@ -0,0 +1 @@
+8e9f278002a3a17b2bb3471523672947034de0ed87d07dd6a422e2b9157bd6f91e4be5df4b3e820ab3f722b599b10d0a77c68ac0d320d1a2ecc94515aefb11fe
\ No newline at end of file
diff --git a/Data/textured_organs/heart_volume.vtk.sha512 b/Data/textured_organs/heart_volume.vtk.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..6aad13a1eddd08c93756ce38c08d09c1603558b9
--- /dev/null
+++ b/Data/textured_organs/heart_volume.vtk.sha512
@@ -0,0 +1 @@
+30c084333b758578905445e55918095b12979fc50bebe4d23f7903f6aae50c1bc4e9aceec22ea1c62491f64db509835d3c0e8310ecbdb2ee4f4fd6af401f5e85
\ No newline at end of file
diff --git a/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp b/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
index a88d0e31303a06d79fe6f767371ea597f7a474be..987eb8aed29b4009e83d34be20e42794301b9738 100644
--- a/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
+++ b/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
@@ -96,17 +96,17 @@ buildStairs(int nSteps, double width, double height, double depth)
}
static std::shared_ptr<PbdObject>
-makeDragonPbdObject(const std::string& name)
+makeArmadilloPbdObject(const std::string& name)
{
auto pbdObj = std::make_shared<PbdObject>(name);
- // Read in the dragon mesh
- auto highResSurfMesh = std::dynamic_pointer_cast<SurfaceMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj"));
- auto coarseTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg"));
- highResSurfMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
- coarseTetMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
- auto coarseSurfMesh = std::make_shared<SurfaceMesh>();
- coarseTetMesh->extractSurfaceMesh(coarseSurfMesh, true);
+ // Read in the armadillo mesh
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(MeshIO::read(iMSTK_DATA_ROOT "armadillo/armadillo_volume.vtk"));
+ tetMesh->scale(0.07, Geometry::TransformType::ApplyToData);
+ tetMesh->rotate(Vec3d(1.0, 0.0, 0.0), 1.3, Geometry::TransformType::ApplyToData);
+ tetMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
+ auto surfMesh = std::make_shared<SurfaceMesh>();
+ tetMesh->extractSurfaceMesh(surfMesh, true);
// Setup the Parameters
auto pbdParams = std::make_shared<PBDModelConfig>();
@@ -117,27 +117,26 @@ makeDragonPbdObject(const std::string& name)
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -10.0, 0);
pbdParams->m_defaultDt = 0.01;
- pbdParams->m_iterations = 10;
+ pbdParams->m_iterations = 5;
pbdParams->collisionParams->m_proximity = 0.3;
pbdParams->collisionParams->m_stiffness = 0.1;
// Setup the Model
auto pbdModel = std::make_shared<PbdModel>();
- pbdModel->setModelGeometry(coarseTetMesh);
+ pbdModel->setModelGeometry(tetMesh);
pbdModel->configure(pbdParams);
// Setup the VisualModel
auto material = std::make_shared<RenderMaterial>();
material->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- auto surfMeshModel = std::make_shared<VisualModel>(highResSurfMesh);
+ auto surfMeshModel = std::make_shared<VisualModel>(surfMesh);
surfMeshModel->setRenderMaterial(material);
// Setup the Object
pbdObj->addVisualModel(surfMeshModel);
- pbdObj->setCollidingGeometry(coarseSurfMesh);
- pbdObj->setPhysicsGeometry(coarseTetMesh);
- pbdObj->setPhysicsToCollidingMap(std::make_shared<OneToOneMap>(coarseTetMesh, coarseSurfMesh));
- pbdObj->setPhysicsToVisualMap(std::make_shared<TetraTriangleMap>(coarseTetMesh, highResSurfMesh));
+ pbdObj->setCollidingGeometry(surfMesh);
+ pbdObj->setPhysicsGeometry(tetMesh);
+ pbdObj->setPhysicsToVisualMap(std::make_shared<TetraTriangleMap>(tetMesh, surfMesh));
pbdObj->setDynamicalModel(pbdModel);
return pbdObj;
@@ -189,7 +188,7 @@ main()
scene->getCamera()->setFocalPoint(0.0, 0.0, 0.0);
// Create and add the dragon to the scene
- auto pbdDragon1 = makeDragonPbdObject("PbdDragon1");
+ auto pbdDragon1 = makeArmadilloPbdObject("PbdArmadillo1");
scene->addSceneObject(pbdDragon1);
auto stairObj = makeStairsPbdObject("PbdStairs", 12, 20.0, 10.0, 20.0);
diff --git a/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp b/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
index 2d411318e30509d6480df164ba8c1352e820e3c7..f28f17b79e46ee29f84e63e04495b9d26ca599d5 100644
--- a/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
+++ b/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
@@ -41,12 +41,10 @@ using namespace imstk;
/// \brief Create a PbdObject and add it to a \p scene
///
std::shared_ptr<PbdObject> createAndAddPbdObject(std::shared_ptr<Scene> scene,
- const std::string& surfMeshName,
const std::string& tetMeshName);
// mesh file names
-const std::string& surfMeshFileName = iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj";
-const std::string& tetMeshFileName = iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg";
+const std::string& tetMeshFileName = iMSTK_DATA_ROOT "textured_organs/heart_volume.vtk";
///
/// \brief This example demonstrates the soft body simulation
@@ -60,7 +58,7 @@ main()
scene->getCamera()->setPosition(0, 2.0, 15.0);
// create and add a PBD object
- createAndAddPbdObject(scene, surfMeshFileName, tetMeshFileName);
+ createAndAddPbdObject(scene, tetMeshFileName);
// Setup plane
auto planeGeom = std::make_shared<Plane>();
@@ -86,17 +84,21 @@ main()
std::shared_ptr<PbdObject>
createAndAddPbdObject(std::shared_ptr<Scene> scene,
- const std::string& surfMeshName,
const std::string& tetMeshName)
{
- auto surfMesh = std::dynamic_pointer_cast<SurfaceMesh>(MeshIO::read(surfMeshName));
auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(MeshIO::read(tetMeshName));
- //auto tetMesh = TetrahedralMesh::createTetrahedralMeshCover(surfMesh, 10, 6, 6);
+ tetMesh->rotate(Vec3d(1.0, 0.0, 0.0), -1.3, Geometry::TransformType::ApplyToData);
+ auto surfMesh = std::make_shared<SurfaceMesh>();
+ tetMesh->extractSurfaceMesh(surfMesh, true);
auto map = std::make_shared<TetraTriangleMap>(tetMesh, surfMesh);
auto material = std::make_shared<RenderMaterial>();
material->setDisplayMode(RenderMaterial::DisplayMode::Surface);
+ material->setColor(Color(147.0 / 255.0, 32.0 / 255.0, 30.0 / 255.0));
+ material->setMetalness(0.9f);
+ material->setRoughness(0.5);
+ material->setShadingModel(RenderMaterial::ShadingModel::PBR);
auto surfMeshModel = std::make_shared<VisualModel>(surfMesh);
surfMeshModel->setRenderMaterial(material);
@@ -108,15 +110,15 @@ createAndAddPbdObject(std::shared_ptr<Scene> scene,
auto pbdParams = std::make_shared<PBDModelConfig>();
// FEM constraint
- pbdParams->m_femParams->m_YoungModulus = 1000.0;
+ pbdParams->m_femParams->m_YoungModulus = 500.0;
pbdParams->m_femParams->m_PoissonRatio = 0.3;
- pbdParams->m_fixedNodeIds = { 50, 126, 177 };
+ pbdParams->m_fixedNodeIds = { 350 };
pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet, PbdFEMConstraint::MaterialType::StVK);
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_iterations = 15;
+ pbdParams->m_iterations = 10;
// pbdParams->m_solverType = PbdConstraint::SolverType::PBD;
// Set the parameters
diff --git a/Examples/PBD/PBDString/pbdStringExample.cpp b/Examples/PBD/PBDString/pbdStringExample.cpp
index 5bc8bace73eed6e96a42669c5c43ccaa8537a842..d59f975374963f11c0d44569947846b1e78d5a9d 100644
--- a/Examples/PBD/PBDString/pbdStringExample.cpp
+++ b/Examples/PBD/PBDString/pbdStringExample.cpp
@@ -95,7 +95,6 @@ makePbdString(
// Setup the VisualModel
std::shared_ptr<RenderMaterial> material = std::make_shared<RenderMaterial>();
material->setBackFaceCulling(false);
- material->setColor(color);
material->setEdgeColor(color);
material->setLineWidth(2.0f);
material->setPointSize(6.0f);
diff --git a/Examples/TaskGraph/Timing/taskGraphTimingExample.cpp b/Examples/TaskGraph/Timing/taskGraphTimingExample.cpp
index c438c94549a04b57a805af7c4a541b16578d3597..7c7149ad35eb5d39eefbaab42126980c61352ce4 100644
--- a/Examples/TaskGraph/Timing/taskGraphTimingExample.cpp
+++ b/Examples/TaskGraph/Timing/taskGraphTimingExample.cpp
@@ -68,11 +68,11 @@ makeStringGeometry(const Vec3d& pos, const size_t numVerts, const double stringL
static std::shared_ptr<PbdObject>
makePbdString(
const std::string& name,
- const Vec3d& pos,
+ const Vec3d& pos,
const size_t numVerts,
const double stringLength,
const double bendStiffness,
- const Color& color)
+ const Color& color)
{
std::shared_ptr<PbdObject> stringObj = std::make_shared<PbdObject>(name);
@@ -83,10 +83,10 @@ makePbdString(
auto pbdParams = std::make_shared<PBDModelConfig>();
pbdParams->enableConstraint(PbdConstraint::Type::Distance, 1e7);
pbdParams->enableConstraint(PbdConstraint::Type::Bend, bendStiffness);
- pbdParams->m_fixedNodeIds = { 0 };
+ pbdParams->m_fixedNodeIds = { 0 };
pbdParams->m_uniformMassValue = 5.0;
- pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_defaultDt = 0.0005;
+ pbdParams->m_gravity = Vec3d(0, -9.8, 0);
+ pbdParams->m_defaultDt = 0.0005;
pbdParams->m_iterations = 5;
// Setup the Model
@@ -97,7 +97,7 @@ makePbdString(
// Setup the VisualModel
std::shared_ptr<RenderMaterial> material = std::make_shared<RenderMaterial>();
material->setBackFaceCulling(false);
- material->setColor(color);
+ material->setEdgeColor(color);
material->setLineWidth(2.0f);
material->setDisplayMode(RenderMaterial::DisplayMode::Wireframe);
@@ -114,11 +114,11 @@ makePbdString(
static std::vector<std::shared_ptr<PbdObject>>
makePbdStrings(const size_t numStrings,
- const size_t numVerts,
- const double stringSpacing,
- const double stringLength,
- const Color& startColor,
- const Color& endColor)
+ const size_t numVerts,
+ const double stringSpacing,
+ const double stringLength,
+ const Color& startColor,
+ const Color& endColor)
{
std::vector<std::shared_ptr<PbdObject>> pbdStringObjs(numStrings);
@@ -127,7 +127,7 @@ makePbdStrings(const size_t numStrings,
for (unsigned int i = 0; i < numStrings; i++)
{
const Vec3d tipPos = Vec3d(static_cast<double>(i) * stringSpacing - size * 0.5, stringLength * 0.5, 0.0);
- const double t = static_cast<double>(i) / (numStrings - 1);
+ const double t = static_cast<double>(i) / (numStrings - 1);
pbdStringObjs[i] = makePbdString(
"String " + std::to_string(i),
@@ -141,14 +141,14 @@ makePbdStrings(const size_t numStrings,
return pbdStringObjs;
}
-const double dt = 0.0005;
-const double radius = 1.5;
-const size_t numStrings = 8; // Number of strings
-const size_t numVerts = 30; // Number of vertices on each string
+const double dt = 0.0005;
+const double radius = 1.5;
+const size_t numStrings = 8; // Number of strings
+const size_t numVerts = 30; // Number of vertices on each string
const double stringSpacing = 2.0; // How far each string is apart
-const double stringLength = 10.0; // Total length of string
-const Color startColor = Color(1.0, 0.0, 0.0); // Color of first string
-const Color endColor = Color(0.0, 1.0, 0.0); // Color of last string
+const double stringLength = 10.0; // Total length of string
+const Color startColor = Color(1.0, 0.0, 0.0); // Color of first string
+const Color endColor = Color(0.0, 1.0, 0.0); // Color of last string
///
/// \brief This examples uses the timing features of the task graph. This allows one
@@ -165,6 +165,7 @@ main()
// Setup N separate strings with varying bend stiffnesses
std::vector<std::shared_ptr<PbdObject>> pbdStringObjs =
makePbdStrings(numStrings, numVerts, stringSpacing, stringLength, startColor, endColor);
+ // Add them to the scene
for (std::shared_ptr<PbdObject> obj : pbdStringObjs)
{
scene->addSceneObject(obj);
@@ -176,7 +177,6 @@ main()
// Move the points every frame
double t = 0.0;
-
auto movePoints =
[&pbdStringObjs, &t](Module* module)
{
diff --git a/Source/Geometry/imstkGeometry.cpp b/Source/Geometry/imstkGeometry.cpp
index abca330a03cb9322b88f2fb9a0dd56b47383cb85..3d56ecfde0073d3ff0e6595053ef4994330ff866 100644
--- a/Source/Geometry/imstkGeometry.cpp
+++ b/Source/Geometry/imstkGeometry.cpp
@@ -124,9 +124,9 @@ Geometry::rotate(const Quatd& q, TransformType type)
}
void
-Geometry::rotate(const Vec3d& axis, double angle, TransformType type)
+Geometry::rotate(const Vec3d& axis, double radians, TransformType type)
{
- this->rotate(Rotd(angle, axis).toRotationMatrix(), type);
+ this->rotate(Rotd(radians, axis).toRotationMatrix(), type);
}
void
diff --git a/Source/Geometry/imstkGeometry.h b/Source/Geometry/imstkGeometry.h
index 4f20faceae37cf412f7e6a4fbed0e20065b98b2a..038dc8bffa68e05b9b26b1272379b0a803153bb7 100644
--- a/Source/Geometry/imstkGeometry.h
+++ b/Source/Geometry/imstkGeometry.h
@@ -118,7 +118,7 @@ public:
///
void rotate(const Quatd& q, TransformType type = TransformType::ConcatenateToTransform);
void rotate(const Mat3d& m, TransformType type = TransformType::ConcatenateToTransform);
- void rotate(const Vec3d& axis, double angle, TransformType type = TransformType::ConcatenateToTransform);
+ void rotate(const Vec3d& axis, double radians, TransformType type = TransformType::ConcatenateToTransform);
///
/// \brief Scale in Cartesian directions
diff --git a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
index f2606e9e083bb2fea8e19fc84bf8b8b3ce627464..60a92b28d55a506065484e52917880b4fe17fe07 100644
--- a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
+++ b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
@@ -419,76 +419,76 @@ VTKRenderer::getAxesVisibility() const
return m_AxesActor->GetVisibility();
}
-void
-VTKRenderer::setTimeTable(const std::unordered_map<std::string, double>& timeTable)
-{
- // Sort by elapsed times
- std::vector<std::pair<std::string, double>> nameToTimesVec(timeTable.begin(), timeTable.end());
- std::sort(nameToTimesVec.begin(), nameToTimesVec.end(),
- [](const std::pair<std::string, double>& a, const std::pair<std::string, double>& b) { return a.second < b.second; });
-
- // Construct vtkTable from provided data
- vtkSmartPointer<vtkDoubleArray> xIndices = vtkDoubleArray::SafeDownCast(m_timeTable->GetColumn(0));
- vtkSmartPointer<vtkDoubleArray> yElapsedTimes = vtkDoubleArray::SafeDownCast(m_timeTable->GetColumn(1));
- vtkSmartPointer<vtkStringArray> labels = vtkStringArray::SafeDownCast(m_timeTable->GetColumn(2));
-
- labels->SetNumberOfValues(nameToTimesVec.size());
- xIndices->SetNumberOfValues(nameToTimesVec.size());
- yElapsedTimes->SetNumberOfValues(nameToTimesVec.size());
- for (size_t i = 0; i < nameToTimesVec.size(); i++)
- {
- labels->SetValue(i, nameToTimesVec[i].first.c_str());
- xIndices->SetValue(i, i + 1);
- yElapsedTimes->SetValue(i, nameToTimesVec[i].second);
- }
-
- // The range for the x axis is based on history of the elapsed times
- vtkAxis* botAxis = m_timeTableChart->GetAxis(vtkAxis::BOTTOM);
-
- // Get the previous and current range
- double newMaxElapsed = yElapsedTimes->GetRange()[1];
- yElapsedTimes->Modified();
- double currMaxElapsed = botAxis->GetMaximum();
-
- // Always respect the max as all information should be shown
- if (newMaxElapsed > currMaxElapsed)
- {
- botAxis->SetRange(0.0, newMaxElapsed);
- }
- // But if current elapsed is less than the existing one we can lag
- else
- {
- // Lag downscaling by 400 iterations
- if (m_timeTableIter % 400 == 0)
- {
- botAxis->SetRange(0.0, newMaxElapsed);
- }
- else
- {
- botAxis->SetRange(0.0, currMaxElapsed);
- }
- m_timeTableIter++;
- }
- botAxis->Modified();
-
- vtkAxis* leftAxis = m_timeTableChart->GetAxis(vtkAxis::LEFT);
- leftAxis->SetRange(xIndices->GetRange());
- leftAxis->SetCustomTickPositions(xIndices, labels);
-
- m_timeTable->Modified();
-}
-
-void
-VTKRenderer::setTimeTableVisibility(const bool visible)
-{
- m_timeTableChartActor->SetVisibility(visible);
-}
-
-bool
-VTKRenderer::getTimeTableVisibility() const
-{
- return m_timeTableChartActor->GetVisibility();
-}
+//void
+//VTKRenderer::setTimeTable(const std::unordered_map<std::string, double>& timeTable)
+//{
+// // Sort by elapsed times
+// std::vector<std::pair<std::string, double>> nameToTimesVec(timeTable.begin(), timeTable.end());
+// std::sort(nameToTimesVec.begin(), nameToTimesVec.end(),
+// [](const std::pair<std::string, double>& a, const std::pair<std::string, double>& b) { return a.second < b.second; });
+//
+// // Construct vtkTable from provided data
+// vtkSmartPointer<vtkDoubleArray> xIndices = vtkDoubleArray::SafeDownCast(m_timeTable->GetColumn(0));
+// vtkSmartPointer<vtkDoubleArray> yElapsedTimes = vtkDoubleArray::SafeDownCast(m_timeTable->GetColumn(1));
+// vtkSmartPointer<vtkStringArray> labels = vtkStringArray::SafeDownCast(m_timeTable->GetColumn(2));
+//
+// labels->SetNumberOfValues(nameToTimesVec.size());
+// xIndices->SetNumberOfValues(nameToTimesVec.size());
+// yElapsedTimes->SetNumberOfValues(nameToTimesVec.size());
+// for (size_t i = 0; i < nameToTimesVec.size(); i++)
+// {
+// labels->SetValue(i, nameToTimesVec[i].first.c_str());
+// xIndices->SetValue(i, i + 1);
+// yElapsedTimes->SetValue(i, nameToTimesVec[i].second);
+// }
+//
+// // The range for the x axis is based on history of the elapsed times
+// vtkAxis* botAxis = m_timeTableChart->GetAxis(vtkAxis::BOTTOM);
+//
+// // Get the previous and current range
+// double newMaxElapsed = yElapsedTimes->GetRange()[1];
+// yElapsedTimes->Modified();
+// double currMaxElapsed = botAxis->GetMaximum();
+//
+// // Always respect the max as all information should be shown
+// if (newMaxElapsed > currMaxElapsed)
+// {
+// botAxis->SetRange(0.0, newMaxElapsed);
+// }
+// // But if current elapsed is less than the existing one we can lag
+// else
+// {
+// // Lag downscaling by 400 iterations
+// if (m_timeTableIter % 400 == 0)
+// {
+// botAxis->SetRange(0.0, newMaxElapsed);
+// }
+// else
+// {
+// botAxis->SetRange(0.0, currMaxElapsed);
+// }
+// m_timeTableIter++;
+// }
+// botAxis->Modified();
+//
+// vtkAxis* leftAxis = m_timeTableChart->GetAxis(vtkAxis::LEFT);
+// leftAxis->SetRange(xIndices->GetRange());
+// leftAxis->SetCustomTickPositions(xIndices, labels);
+//
+// m_timeTable->Modified();
+//}
+//
+//void
+//VTKRenderer::setTimeTableVisibility(const bool visible)
+//{
+// m_timeTableChartActor->SetVisibility(visible);
+//}
+//
+//bool
+//VTKRenderer::getTimeTableVisibility() const
+//{
+// return m_timeTableChartActor->GetVisibility();
+//}
void
VTKRenderer::updateSceneCamera(std::shared_ptr<Camera> imstkCam)
diff --git a/Source/Rendering/VTKRenderer/imstkVTKRenderer.h b/Source/Rendering/VTKRenderer/imstkVTKRenderer.h
index 22e13ea70d9067b8c6234cdad61bba07251450b7..65db5794a405dd505205a17080a69cf5eabf8882 100644
--- a/Source/Rendering/VTKRenderer/imstkVTKRenderer.h
+++ b/Source/Rendering/VTKRenderer/imstkVTKRenderer.h
@@ -102,17 +102,17 @@ public:
///
/// \brief Sets the benchmarking table using unordered_map
///
- void setTimeTable(const std::unordered_map<std::string, double>& timeTable);
+ //void setTimeTable(const std::unordered_map<std::string, double>& timeTable);
///
/// \brief Set the visibility of the benchmark graph
///
- void setTimeTableVisibility(const bool visible);
+ //void setTimeTableVisibility(const bool visible);
///
/// \brief Get the visibility of the benchmark graph
///
- bool getTimeTableVisibility() const;
+ //bool getTimeTableVisibility() const;
///
/// \brief Updates the scene camera's position and orientation
diff --git a/Source/SimulationManager/VTKRenderer/imstkVTKViewer.cpp b/Source/SimulationManager/VTKRenderer/imstkVTKViewer.cpp
index e53ca868bf6ea18f80a3479c8f6749eae1ae272e..d5ab9f6b983c4d52c82ff1f0134a3b480bfacf23 100644
--- a/Source/SimulationManager/VTKRenderer/imstkVTKViewer.cpp
+++ b/Source/SimulationManager/VTKRenderer/imstkVTKViewer.cpp
@@ -80,9 +80,9 @@ VTKViewer::VTKViewer(SimulationManager* manager /*= nullptr*/, bool enableVR /*=
#endif
// Setup callback for timer on the interactor
- timerCallbackCommand = vtkSmartPointer<vtkCallbackCommand>::New();
+ /*timerCallbackCommand = vtkSmartPointer<vtkCallbackCommand>::New();
timerCallbackCommand->SetCallback(timerCallback);
- timerCallbackCommand->SetClientData(this);
+ timerCallbackCommand->SetClientData(this);*/
}
void
@@ -190,13 +190,13 @@ VTKViewer::startRenderingLoop()
m_vtkRenderWindow->GetInteractor()->CreateOneShotTimer(0);
// If the Scene wants benchmarking hookup timer to update the table
- auto vtkRen = std::dynamic_pointer_cast<VTKRenderer>(getActiveRenderer());
+ /*auto vtkRen = std::dynamic_pointer_cast<VTKRenderer>(getActiveRenderer());
vtkRen->setTimeTableVisibility(m_activeScene->getConfig()->taskTimingEnabled);
if (m_activeScene->getConfig()->taskTimingEnabled)
{
m_vtkRenderWindow->GetInteractor()->AddObserver(vtkCommand::TimerEvent, timerCallbackCommand);
m_vtkRenderWindow->GetInteractor()->CreateRepeatingTimer(500);
- }
+ }*/
m_vtkRenderWindow->SetWindowName(m_config->m_windowName.c_str());
m_vtkRenderWindow->GetInteractor()->Start();
@@ -254,17 +254,17 @@ VTKViewer::getTextStatusManager()
return m_vtkInteractorStyle->getTextStatusManager();
}
-void
-VTKViewer::timerCallback(vtkObject* caller, long unsigned int vtkNotUsed(eventId), void* clientData, void* vtkNotUsed(callData))
-{
- VTKViewer* self = static_cast<VTKViewer*>(clientData);
-
- if (self->getActiveScene()->getConfig()->taskTimingEnabled)
- {
- auto vtkRen = std::dynamic_pointer_cast<VTKRenderer>(self->getActiveRenderer());
- self->getActiveScene()->lockComputeTimes();
- vtkRen->setTimeTable(self->getActiveScene()->getTaskComputeTimes());
- self->getActiveScene()->unlockComputeTimes();
- }
-}
+//void
+//VTKViewer::timerCallback(vtkObject* caller, long unsigned int vtkNotUsed(eventId), void* clientData, void* vtkNotUsed(callData))
+//{
+// VTKViewer* self = static_cast<VTKViewer*>(clientData);
+//
+// if (self->getActiveScene()->getConfig()->taskTimingEnabled)
+// {
+// auto vtkRen = std::dynamic_pointer_cast<VTKRenderer>(self->getActiveRenderer());
+// self->getActiveScene()->lockComputeTimes();
+// vtkRen->setTimeTable(self->getActiveScene()->getTaskComputeTimes());
+// self->getActiveScene()->unlockComputeTimes();
+// }
+//}
} // imstk
diff --git a/Source/SimulationManager/VTKRenderer/imstkVTKViewer.h b/Source/SimulationManager/VTKRenderer/imstkVTKViewer.h
index 5280057247dc4684ddddba2b2681000f43f7aed3..2cc0c11031e4f73775d04d3e31c919adbc423eef 100644
--- a/Source/SimulationManager/VTKRenderer/imstkVTKViewer.h
+++ b/Source/SimulationManager/VTKRenderer/imstkVTKViewer.h
@@ -111,13 +111,13 @@ public:
protected:
/// \brief TODO
- static void timerCallback(vtkObject* caller, long unsigned int eventId, void* clientData, void* callData);
+ //static void timerCallback(vtkObject* caller, long unsigned int eventId, void* clientData, void* callData);
vtkSmartPointer<vtkRenderWindow> m_vtkRenderWindow;
std::shared_ptr<VTKInteractorStyle> m_vtkInteractorStyle;
bool m_enableVR;
- vtkSmartPointer<vtkCallbackCommand> timerCallbackCommand;
+ //vtkSmartPointer<vtkCallbackCommand> timerCallbackCommand;
#ifdef iMSTK_ENABLE_VR
vtkSmartPointer<OpenVRCommand> m_openVRCommand;