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 1b0360d8396cf4013dcd7adb7a26f704bb35384a..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"
@@ -56,13 +57,14 @@ using namespace imstk::expiremental;
/// \brief Creates a level set obj (poly rendering)
///
std::shared_ptr<LevelSetDeformableObject>
-makeLevelsetObj(const std::string& name, std::shared_ptr<LocalMarchingCubes> isoExtract)
+makeLevelsetObj(const std::string& name, std::shared_ptr<LocalMarchingCubes> isoExtract, std::unordered_set<int>& chunksGenerated)
{
imstkNew<LevelSetDeformableObject> levelsetObj(name);
std::shared_ptr<ImageData> initLvlsetImage = MeshIO::read<ImageData>(iMSTK_DATA_ROOT "/legs/femurBone_SDF.nii")->cast(IMSTK_DOUBLE);
const Vec3d& currSpacing = initLvlsetImage->getSpacing();
- initLvlsetImage->setSpacing(currSpacing * 0.001); // note: Anisotropic scaling invalidates SDF
+ // Note: Anistropic scaling would invalidate the SDF
+ initLvlsetImage->setSpacing(currSpacing * 0.001);
initLvlsetImage->setOrigin(Vec3d(0.0, 0.8, 1.5));
// Setup the Parameters
@@ -76,27 +78,35 @@ makeLevelsetObj(const std::string& name, std::shared_ptr<LocalMarchingCubes> iso
model->setModelGeometry(initLvlsetImage);
model->configure(lvlSetConfig);
+ // Too many chunks and you'll hit memory constraints quickly
+ // Too little chunks and the updates for a chunk will take too long
+ // The chunks must divide the image dimensions (image dim-1 must be divisible by # chunks)
isoExtract->setInputImage(initLvlsetImage);
isoExtract->setIsoValue(0.0);
- isoExtract->setNumberOfChunks(Vec3i(16, 9, 9)); // Image dim-1 must be divisible by # chunks
+ isoExtract->setNumberOfChunks(Vec3i(32, 9, 9));
isoExtract->update();
srand(time(NULL));
- for (int i = 0; i < 9 * 9 * 16; i++)
+ const Vec3i& numChunks = isoExtract->getNumberOfChunks();
+ for (int i = 0; i < numChunks[0] * numChunks[1] * numChunks[2]; i++)
{
- imstkNew<VisualModel> surfMeshModel(isoExtract->getOutput(i));
- imstkNew<RenderMaterial> material;
- material->setDisplayMode(RenderMaterial::DisplayMode::Surface);
- material->setLineWidth(4.0);
- //material->setPointSize(0.001);
- const double r = (rand() % 500) / 500.0;
- const double g = (rand() % 500) / 500.0;
- const double b = (rand() % 500) / 500.0;
- material->setColor(Color(r, g, b));
- material->setEdgeColor(Color::Color::Orange);
- surfMeshModel->setRenderMaterial(material);
- levelsetObj->addVisualModel(surfMeshModel);
+ auto surfMesh = std::dynamic_pointer_cast<SurfaceMesh>(isoExtract->getOutput(i));
+ if (surfMesh->getNumVertices() > 0 && chunksGenerated.count(i) == 0)
+ {
+ imstkNew<VisualModel> surfMeshModel(isoExtract->getOutput(i));
+ imstkNew<RenderMaterial> material;
+ material->setDisplayMode(RenderMaterial::DisplayMode::Surface);
+ material->setLineWidth(4.0);
+ const double r = (rand() % 500) / 500.0;
+ const double g = (rand() % 500) / 500.0;
+ const double b = (rand() % 500) / 500.0;
+ material->setColor(Color(r, g, b));
+ material->setEdgeColor(Color::Color::Orange);
+ surfMeshModel->setRenderMaterial(material);
+ levelsetObj->addVisualModel(surfMeshModel);
+ chunksGenerated.insert(i);
+ }
}
// Setup the Object
@@ -124,26 +134,44 @@ makeRigidObj(const std::string& name)
imstkNew<RigidObject2> rigidObj("Cube");
{
- auto toolMesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scalpel/Scalpel_Blade10_Hull.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);
@@ -154,7 +182,9 @@ makeRigidObj(const std::string& name)
}
///
-/// \brief This example demonstrates evolution of a levelset
+/// \brief This example demonstrates cutting a femur bone with a tool
+/// Some of the example parameters may need to be tweaked for differing
+/// systems
///
int
main()
@@ -165,7 +195,8 @@ main()
imstkNew<Scene> scene("FemurCut");
std::shared_ptr<LocalMarchingCubes> isoExtract = std::make_shared<LocalMarchingCubes>();
- std::shared_ptr<LevelSetDeformableObject> lvlSetObj = makeLevelsetObj("LevelSetObj", isoExtract);
+ std::unordered_set<int> chunksGenerated; // Lazy generation of chunks
+ std::shared_ptr<LevelSetDeformableObject> lvlSetObj = makeLevelsetObj("LevelSetObj", isoExtract, chunksGenerated);
scene->addSceneObject(lvlSetObj);
std::shared_ptr<RigidObject2> rbdObj = makeRigidObj("RigidObj");
@@ -186,7 +217,7 @@ main()
colHandlerA->setStiffness(0.0); // inelastic collision
auto colHandlerB = std::dynamic_pointer_cast<LevelSetCH>(interaction->getCollisionHandlingB());
colHandlerB->setLevelSetVelocityScaling(0.1);
- colHandlerB->setKernel(5, 1.0);
+ colHandlerB->setKernel(3, 1.0);
//colHandlerB->setLevelSetVelocityScaling(0.0); // Can't push the levelset
colHandlerB->setUseProportionalVelocity(false);
scene->getCollisionGraph()->addInteraction(interaction);
@@ -247,7 +278,30 @@ main()
});
connect<Event>(viewer, EventType::PreUpdate, [&](Event*)
{
+ // Update any chunks that contain a voxel which was set modified
isoExtract->update();
+
+ // Create meshes for chunks if they now contain vertices (and weren't already generated)
+ const Vec3i& numChunks = isoExtract->getNumberOfChunks();
+ for (int i = 0; i < numChunks[0] * numChunks[1] * numChunks[2]; i++)
+ {
+ auto surfMesh = std::dynamic_pointer_cast<SurfaceMesh>(isoExtract->getOutput(i));
+ if (surfMesh->getNumVertices() > 0 && chunksGenerated.count(i) == 0)
+ {
+ imstkNew<VisualModel> surfMeshModel(isoExtract->getOutput(i));
+ imstkNew<RenderMaterial> material;
+ material->setDisplayMode(RenderMaterial::DisplayMode::Surface);
+ material->setLineWidth(4.0);
+ const double r = (rand() % 500) / 500.0;
+ const double g = (rand() % 500) / 500.0;
+ const double b = (rand() % 500) / 500.0;
+ material->setColor(Color(r, g, b));
+ material->setEdgeColor(Color::Color::Orange);
+ surfMeshModel->setRenderMaterial(material);
+ lvlSetObj->addVisualModel(surfMeshModel);
+ chunksGenerated.insert(i);
+ }
+ }
});
connect<Event>(sceneManager, EventType::PostUpdate, [&](Event*)
{
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/Controllers/imstkRigidObjectController.cpp b/Source/Controllers/imstkRigidObjectController.cpp
index 14fde7296fe5c635b98f520de0237e455aad9e42..0b728cd1c55b50629a098438f3a97dde6c1abde6 100644
--- a/Source/Controllers/imstkRigidObjectController.cpp
+++ b/Source/Controllers/imstkRigidObjectController.cpp
@@ -132,9 +132,32 @@ RigidObjectController::applyForces()
// Apply force back to device
if (m_rigidObject != nullptr && m_useSpring)
{
- // Render only the spring force (not the other forces the body has)
- const Vec3d force = fS * m_forceScaling;
- m_deviceClient->setForce(-force);
+ const Vec3d force = -fS * m_forceScaling;
+ if (m_forceSmoothening)
+ {
+ m_forces.push_back(force);
+ if (m_forces.size() > m_smoothingKernelSize)
+ {
+ m_forces.pop_front();
+ }
+
+ Vec3d avgForce = Vec3d(0.0, 0.0, 0.0);
+ int count = 0;
+ for (auto i : m_forces)
+ {
+ avgForce += i;
+ count++;
+ }
+ avgForce /= count;
+
+ // Render only the spring force (not the other forces the body has)
+ m_deviceClient->setForce(avgForce);
+ }
+ else
+ {
+ // Render only the spring force (not the other forces the body has)
+ m_deviceClient->setForce(force);
+ }
}
}
else
diff --git a/Source/Controllers/imstkRigidObjectController.h b/Source/Controllers/imstkRigidObjectController.h
index c3921d40e5ef42385169c42be9ae5f36981c9a79..5e984cb9f4c2077667a80d4da554ad9e024f0760 100644
--- a/Source/Controllers/imstkRigidObjectController.h
+++ b/Source/Controllers/imstkRigidObjectController.h
@@ -91,6 +91,20 @@ public:
bool getUseSpring() const { return m_useSpring; }
void setUseSpring(const bool useSpring) { m_useSpring = useSpring; }
+ ///
+ /// \brief Set/Get whether to use force smoothening
+ /// Force smoothening averages the force used on the device over kernel size
+ ///
+ bool getUseForceSmoothening() const { return m_forceSmoothening; }
+ void setUseForceSmoothening(const bool useForceSmoothening) { m_forceSmoothening = useForceSmoothening; }
+
+ ///
+ /// \brief Set/Get the kernel size
+ /// \todo: Vary with dt as performance of program will effect the size/number of samples
+ ///
+ int getSmoothingKernelSize() const { return m_smoothingKernelSize; }
+ void setSmoothingKernelSize(const int kernelSize) { m_smoothingKernelSize = kernelSize; }
+
public:
///
/// \brief Update controlled scene object using latest tracking information
@@ -104,6 +118,7 @@ public:
protected:
std::shared_ptr<RigidObject2> m_rigidObject;
+ std::deque<Vec3d> m_forces;
double m_linearKd = 10000.0; ///> Damping coefficient, linear
double m_angularKd = 300.0; ///> Damping coefficient, rotational
@@ -115,6 +130,9 @@ protected:
double m_forceScaling = 0.0000075;
bool m_useSpring = true; ///> Controller has ability to toggle to from springs
+
+ bool m_forceSmoothening = true;
+ int m_smoothingKernelSize = 25;
};
}
}
diff --git a/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.cpp b/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.cpp
index e955ffc462cbf5c5b829201ff458f11ee252033f..b520cd84c35b49c6bfd280303108f4feea1d8466 100644
--- a/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.cpp
@@ -43,7 +43,7 @@ LevelSetModel::LevelSetModel()
};
// By default the level set defines a function for evolving the distances, this can be removed in subclasses
- m_evolveQuantitiesNodes.push_back(std::make_shared<TaskNode>(std::bind(&LevelSetModel::evolveDistanceField, this), "Evolve Distances"));
+ m_evolveQuantitiesNodes.push_back(std::make_shared<TaskNode>(std::bind(&LevelSetModel::evolve, this), "Evolve Distances"));
m_taskGraph->addNode(m_evolveQuantitiesNodes.back());
/// are all quantities evolved the same but with different force functions?
}
@@ -109,14 +109,12 @@ LevelSetModel::configure(std::shared_ptr<LevelSetModelConfig> config)
}
void
-LevelSetModel::evolveDistanceField()
+LevelSetModel::evolve()
{
auto sdf = std::dynamic_pointer_cast<SignedDistanceField>(m_mesh);
auto imageData = std::dynamic_pointer_cast<ImageData>(sdf->getImage());
double* imgPtr = static_cast<double*>(imageData->getVoidPointer());
const Vec3i& dim = imageData->getDimensions();
- //const Vec3d& spacing = imageData->getSpacing();
- //const Vec3d& origin = imageData->getOrigin();
const double dt = m_config->m_dt;
//const double k = m_config->m_k;
diff --git a/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.h b/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.h
index 01e2aae8d138193097bb033141bc7085ca00993a..7bae77b492198c970e8d18c3076b07b2170882a2 100644
--- a/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.h
+++ b/Source/DynamicalModels/ObjectModels/imstkLevelSetModel.h
@@ -83,7 +83,7 @@ public:
///
void configure(std::shared_ptr<LevelSetModelConfig> config);
- virtual void evolveDistanceField();
+ virtual void evolve();
void addImpulse(const Vec3i& coord, double f);
void setImpulse(const Vec3i& coord, double f);
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/MeshIO/imstkMeshIO.cpp b/Source/MeshIO/imstkMeshIO.cpp
index adb53e471231d1af1bef5c04b788edb9194ebc2e..66419456bf554153958fbe50a28f1eba4e22b9ba 100644
--- a/Source/MeshIO/imstkMeshIO.cpp
+++ b/Source/MeshIO/imstkMeshIO.cpp
@@ -28,6 +28,7 @@
#include "imstkVegaMeshIO.h"
#include "imstkVTKMeshIO.h"
+#include <cctype>
#include <sys/stat.h>
#include <unordered_map>
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)