diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.dae.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.dae.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..01dc30b00c55a3b5c2fc4c20c55cc238ad061f13
--- /dev/null
+++ b/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.dae.sha512
@@ -0,0 +1 @@
+de81db98099d447f73a068553b91cf13b86067126a0f356248325cd9bbcdae466405b6eca7dce5b874de7dfc11979270fe53622437a3ee65b8182bd86e96c5b7
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.obj.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.obj.sha512
deleted file mode 100644
index 4d0197c17e91a3af9101aff5b126a33e527dee41..0000000000000000000000000000000000000000
--- a/Data/Surgical Instruments/Scalpel/Scalpel_Blade10.obj.sha512
+++ /dev/null
@@ -1 +0,0 @@
-b3020f808f1589756d438d689bfde4ef673a3ab51f93f699bb7c16dbefc21fd48bdd5660810c509f5bfa4256bb4fa2aa8955c3b59ca011e24c72414890291616
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade10_Hull.stl.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade10_Hull.stl.sha512
deleted file mode 100644
index 034890c59bc0acf07d468a2df98bf4f7a7f59fcd..0000000000000000000000000000000000000000
--- a/Data/Surgical Instruments/Scalpel/Scalpel_Blade10_Hull.stl.sha512
+++ /dev/null
@@ -1 +0,0 @@
-3314f75a94b2ea8b026053678f3754e5203dd90b35e80f99e4ae83f38957461b9ab0f4fbb60c94240f3e6622a99ee4a1929e8d98b29e02b894c03da9a716f4c9
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.dae.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.dae.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..377bd0efebd20830a5ed958d286562783a986b92
--- /dev/null
+++ b/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.dae.sha512
@@ -0,0 +1 @@
+35de8f05bdb4e0ae0e93c4caea21d3644fdcaa59a607e2a1e6bbcda76e0dbeabf364ad39dbd747b3e2ee1776e9cc1a938903f0c216e64f6ceaec85e5a4c59e43
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.obj.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.obj.sha512
deleted file mode 100644
index 6f0e02f90ebf77c320736922db2c8a09e9ee35fb..0000000000000000000000000000000000000000
--- a/Data/Surgical Instruments/Scalpel/Scalpel_Blade11.obj.sha512
+++ /dev/null
@@ -1 +0,0 @@
-a68a897914f25b37381a833da42e1efd6242f3f43b3f3be3d53662151e41819a3b467d86884e199933364a5e3e09fe3999dd763b8ee9282cdd9e664f9ba1cf66
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.dae.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.dae.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..edc06ca89e9d05b803081cecf2a195ad22a9ff3f
--- /dev/null
+++ b/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.dae.sha512
@@ -0,0 +1 @@
+632f9e33d3279c8116ead86c785fb5758229b477169233f2eb92c3c7ebd796c0f68abdb18a5e0b10b42d6e540931319cc0a5419d8a57f5fab96c2ece0976a48b
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.obj.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.obj.sha512
deleted file mode 100644
index 85bace8d1d48801ab5bd52ac739552d7d6b66c8a..0000000000000000000000000000000000000000
--- a/Data/Surgical Instruments/Scalpel/Scalpel_Blade15.obj.sha512
+++ /dev/null
@@ -1 +0,0 @@
-53c94e1d26114f36ad553fa6de26d6bdd1d9ccb7b693b4560ac25a520ce60f17fbd5819aba5d7c7580ca2c1875665439744b39f6f3a530138f2af9409a110f37
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Handle.dae.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Handle.dae.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..b5a0ee44b9858925af65f662d2e6dd74aad8138c
--- /dev/null
+++ b/Data/Surgical Instruments/Scalpel/Scalpel_Handle.dae.sha512
@@ -0,0 +1 @@
+1dfb0e86575555b41abfabdf456fc614036f7acfc7034456e17fe91e7c91d04b888d2084c425127bde4adf9b2d9e292d360682468f9839a6f7be53b9b44f7171
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Handle.obj.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Handle.obj.sha512
deleted file mode 100644
index 8e87f96ea38351bdcf2829fdb54a10d85ed1dd99..0000000000000000000000000000000000000000
--- a/Data/Surgical Instruments/Scalpel/Scalpel_Handle.obj.sha512
+++ /dev/null
@@ -1 +0,0 @@
-5bfa843d28651bf9e1573d627434905ca7980541877c9a2aa3cd24d3c85f914245a416340de3d22cdeba73d641daf23d7aab9be753072c7c40e875f688ce506a
\ No newline at end of file
diff --git a/Data/Surgical Instruments/Scalpel/Scalpel_Hull_Subdivided.stl.sha512 b/Data/Surgical Instruments/Scalpel/Scalpel_Hull_Subdivided.stl.sha512
new file mode 100644
index 0000000000000000000000000000000000000000..030e837addcc86ed1ea53f3c23a4672e725fe622
--- /dev/null
+++ b/Data/Surgical Instruments/Scalpel/Scalpel_Hull_Subdivided.stl.sha512
@@ -0,0 +1 @@
+43595d92c9f570a2a35f1bde65239335efc4ffb5625bd3416e0d5023b7e07b34f8e430e1d09c986a05cb8cdfc35e58d1813e969eed685b72f9865eaade52e1e0
\ No newline at end of file
diff --git a/Examples/Interactions/LevelSet-Rigid/LevelSet-RigidInteractionExample.cpp b/Examples/Interactions/LevelSet-Rigid/LevelSet-RigidInteractionExample.cpp
index 49e6e842746aa20a08dcf1a75cd2bdc351eda145..199f61cf451381135995bb6cb7a66e82b0eddb20 100644
--- a/Examples/Interactions/LevelSet-Rigid/LevelSet-RigidInteractionExample.cpp
+++ b/Examples/Interactions/LevelSet-Rigid/LevelSet-RigidInteractionExample.cpp
@@ -24,6 +24,7 @@
#include "imstkHapticDeviceClient.h"
#include "imstkHapticDeviceManager.h"
#include "imstkImageData.h"
+#include "imstkIsometricMap.h"
#include "imstkKeyboardSceneControl.h"
#include "imstkLevelSetCH.h"
#include "imstkLevelSetDeformableObject.h"
@@ -133,26 +134,44 @@ makeRigidObj(const std::string& name)
imstkNew<RigidObject2> rigidObj("Cube");
{
- auto toolMesh = MeshIO::read<SurfaceMesh>("C:/Users/Andx_/Desktop/testMesh.stl");
+ auto toolMesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Hull_Subdivided.stl");
toolMesh->rotate(Vec3d(0.0, 1.0, 0.0), 3.14, Geometry::TransformType::ApplyToData);
toolMesh->rotate(Vec3d(1.0, 0.0, 0.0), -1.57, Geometry::TransformType::ApplyToData);
toolMesh->scale(Vec3d(0.07, 0.07, 0.07), Geometry::TransformType::ApplyToData);
- imstkNew<VisualModel> visualModel(toolMesh);
- imstkNew<RenderMaterial> mat;
- mat->setDisplayMode(RenderMaterial::DisplayMode::Surface);
- mat->setShadingModel(RenderMaterial::ShadingModel::PBR);
- mat->setMetalness(0.9f);
- mat->setRoughness(0.4f);
- //mat->setDisplayMode(RenderMaterial::DisplayMode::Points);
- //mat->setPointSize(15.0);
- mat->setDiffuseColor(Color(0.7, 0.7, 0.7));
- visualModel->setRenderMaterial(mat);
+ auto toolVisualMeshHandle = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Handle.dae");
+ toolVisualMeshHandle->rotate(Vec3d(0.0, 1.0, 0.0), 3.14, Geometry::TransformType::ApplyToData);
+ toolVisualMeshHandle->rotate(Vec3d(1.0, 0.0, 0.0), -1.57, Geometry::TransformType::ApplyToData);
+ toolVisualMeshHandle->scale(Vec3d(0.07, 0.07, 0.07), Geometry::TransformType::ApplyToData);
+
+ auto toolVisualMeshBlade = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Blade10.dae");
+ toolVisualMeshBlade->rotate(Vec3d(0.0, 1.0, 0.0), 3.14, Geometry::TransformType::ApplyToData);
+ toolVisualMeshBlade->rotate(Vec3d(1.0, 0.0, 0.0), -1.57, Geometry::TransformType::ApplyToData);
+ toolVisualMeshBlade->scale(Vec3d(0.07, 0.07, 0.07), Geometry::TransformType::ApplyToData);
+
+ imstkNew<RenderMaterial> toolMaterial;
+ toolMaterial->setDisplayMode(RenderMaterial::DisplayMode::Surface);
+ toolMaterial->setShadingModel(RenderMaterial::ShadingModel::PBR);
+ toolMaterial->setMetalness(0.9f);
+ toolMaterial->setRoughness(0.4f);
+ //toolMaterial->setDisplayMode(RenderMaterial::DisplayMode::Points);
+ //toolMaterial->setPointSize(15.0);
+ toolMaterial->setDiffuseColor(Color(0.7, 0.7, 0.7));
+
+ imstkNew<VisualModel> visualModel1(toolVisualMeshHandle);
+ visualModel1->setRenderMaterial(toolMaterial);
+ rigidObj->addVisualModel(visualModel1);
+
+ imstkNew<VisualModel> visualModel2(toolVisualMeshBlade);
+ visualModel2->setRenderMaterial(toolMaterial);
+ rigidObj->addVisualModel(visualModel2);
// Create the object
- rigidObj->addVisualModel(visualModel);
rigidObj->setPhysicsGeometry(toolMesh);
rigidObj->setCollidingGeometry(toolMesh);
+ rigidObj->setPhysicsToVisualMap(std::make_shared<IsometricMap>(toolMesh, toolVisualMeshHandle));
+ // Hack to add two maps
+ rigidObj->setPhysicsToCollidingMap(std::make_shared<IsometricMap>(toolMesh, toolVisualMeshBlade));
rigidObj->setDynamicalModel(rbdModel);
rigidObj->getRigidBody()->m_mass = 1000.0;
//rigidObj->getRigidBody()->setInertiaFromPointSet(toolMesh, 0.01, false);
@@ -200,7 +219,7 @@ main()
colHandlerB->setLevelSetVelocityScaling(0.1);
colHandlerB->setKernel(3, 1.0);
//colHandlerB->setLevelSetVelocityScaling(0.0); // Can't push the levelset
- colHandlerB->setUseProportionalVelocity(true);
+ colHandlerB->setUseProportionalVelocity(false);
scene->getCollisionGraph()->addInteraction(interaction);
// Light (white)
diff --git a/Examples/OpenVRController/OpenVRControllerExample.cpp b/Examples/OpenVRController/OpenVRControllerExample.cpp
index ed7d017bd4583e60c590190f30ae6917db49c5ed..166c86cbc109cf8322502e2d2911061cb48f8b00 100644
--- a/Examples/OpenVRController/OpenVRControllerExample.cpp
+++ b/Examples/OpenVRController/OpenVRControllerExample.cpp
@@ -42,7 +42,7 @@ std::shared_ptr<SceneObject>
makeHandleObject()
{
imstkNew<SceneObject> scalpelHandle("ScalpelHandle");
- auto toolHandleMesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Handle.obj");
+ auto toolHandleMesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Handle.dae");
toolHandleMesh->translate(0.0, 0.0, 1.0, Geometry::TransformType::ApplyToData);
toolHandleMesh->rotate(Vec3d(0.0, 1.0, 0.0), 3.14, Geometry::TransformType::ApplyToData);
toolHandleMesh->rotate(Vec3d(1.0, 0.0, 0.0), -1.57, Geometry::TransformType::ApplyToData);
@@ -68,7 +68,7 @@ std::shared_ptr<SceneObject>
makeBlade(std::string filename)
{
imstkNew<SceneObject> scalpelBlade(filename);
- auto blade10Mesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/" + filename + ".obj");
+ auto blade10Mesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/" + filename + ".dae");
blade10Mesh->translate(0.0, 0.0, 1.0, Geometry::TransformType::ApplyToData);
blade10Mesh->rotate(Vec3d(0.0, 1.0, 0.0), 3.14, Geometry::TransformType::ApplyToData);
blade10Mesh->rotate(Vec3d(1.0, 0.0, 0.0), -1.57, Geometry::TransformType::ApplyToData);
diff --git a/Source/GeometryMappers/imstkIsometricMap.cpp b/Source/GeometryMappers/imstkIsometricMap.cpp
index 9252f25a4a55b3143264ef20ca3ad3062196a216..d2b44f5524c5d76bf5d99be0902a0b6125024cc3 100644
--- a/Source/GeometryMappers/imstkIsometricMap.cpp
+++ b/Source/GeometryMappers/imstkIsometricMap.cpp
@@ -41,23 +41,6 @@ IsometricMap::apply()
return;
}
- // Set the follower mesh configuration to that of master
- m_slave->setTranslation(m_master->getTranslation());
- m_slave->setRotation(m_master->getRotation());
-
- // Apply the offset transform
- m_slave->transform(m_rigidTransform.matrix());
-}
-
-void
-IsometricMap::setTransform(const RigidTransform3d& affineTransform)
-{
- m_rigidTransform = affineTransform;
-}
-
-const RigidTransform3d&
-IsometricMap::getTransform() const
-{
- return m_rigidTransform;
+ m_slave->setTransform(m_master->getTransform());
}
} // imstk
diff --git a/Source/GeometryMappers/imstkIsometricMap.h b/Source/GeometryMappers/imstkIsometricMap.h
index f097b17fb7d5d9243942cbf249c1168e7b2c6c89..d5fe48cc9c263ea06e6f4ae9ec67866db42d5e34 100644
--- a/Source/GeometryMappers/imstkIsometricMap.h
+++ b/Source/GeometryMappers/imstkIsometricMap.h
@@ -39,22 +39,20 @@ public:
/// \brief Constructor
///
IsometricMap() :
- GeometryMap(GeometryMap::Type::Isometric),
- m_rigidTransform(RigidTransform3d::Identity())
- {}
+ GeometryMap(GeometryMap::Type::Isometric)
+ { }
///
/// \brief Constructor
///
IsometricMap(std::shared_ptr<Geometry> master, std::shared_ptr<Geometry> slave) :
- GeometryMap(master, slave, GeometryMap::Type::Isometric),
- m_rigidTransform(RigidTransform3d::Identity())
- {}
+ GeometryMap(master, slave, GeometryMap::Type::Isometric)
+ { }
///
/// \brief Destructor
///
- ~IsometricMap() = default;
+ ~IsometricMap() override = default;
///
/// \brief Compute the map
@@ -72,20 +70,6 @@ public:
inline bool isValid() const override
{
return true;
- };
-
- ///
- /// \brief Set the transform
- ///
- void setTransform(const RigidTransform3d& affineTransform);
-
- ///
- /// \brief Get the transform
- ///
- const RigidTransform3d& getTransform() const;
-
-protected:
-
- RigidTransform3d m_rigidTransform; ///> Rigid transform
+ }
};
} // imstk
diff --git a/Source/SceneEntities/Objects/imstkDynamicObject.cpp b/Source/SceneEntities/Objects/imstkDynamicObject.cpp
index a7af8bc391c74d4c2c2a93db8a85d3088817cbe7..fe6ed4453256d6348ef975ec739ed2c8a5ed7f8e 100644
--- a/Source/SceneEntities/Objects/imstkDynamicObject.cpp
+++ b/Source/SceneEntities/Objects/imstkDynamicObject.cpp
@@ -67,6 +67,7 @@ DynamicObject::updatePhysicsGeometry()
if (m_physicsToCollidingGeomMap)
{
m_physicsToCollidingGeomMap->apply();
+ m_physicsToCollidingGeomMap->getSlave()->modified();
}
if (m_physicsGeometry != nullptr)