From 51c270ce74246bc1bfd052bfd3b54ada6f3b1174 Mon Sep 17 00:00:00 2001
From: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>
Date: Thu, 15 Jun 2017 17:32:16 -0400
Subject: [PATCH] ENH: Adds test example for cylinder-sphere collision
---
Examples/Sandbox/main.cpp | 88 +++++++++++++++++++++++++++++++++++++--
1 file changed, 84 insertions(+), 4 deletions(-)
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index acf60cca1..5b447772e 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -137,6 +137,7 @@ void testVirtualCoupling();
void testGeometryTransforms();
void testPicking();
void testBoneDrilling();
+void testVirtualCouplingCylinder();
int main()
{
@@ -169,7 +170,7 @@ int main()
//testOneToOneNodalMap();
//testSurfaceMeshOptimizer();
//testAnalyticalGeometry();
- testGeometryTransforms();
+ //testGeometryTransforms();
/*------------------
@@ -207,8 +208,9 @@ int main()
------------------*/
//testScenesManagement();
//testVectorPlotters();
- //testVirtualCoupling();
- testBoneDrilling();
+ testVirtualCoupling();
+ //testBoneDrilling();
+ testVirtualCouplingCylinder();
return 0;
@@ -2494,7 +2496,7 @@ void testVirtualCoupling()
#ifdef iMSTK_USE_OPENHAPTICS
// Device clients
- auto client = std::make_shared<imstk::HDAPIDeviceClient>("Default Device");
+ auto client = std::make_shared<imstk::HDAPIDeviceClient>("PHANToM 1");
// Device Server
auto server = std::make_shared<imstk::HDAPIDeviceServer>();
@@ -2799,3 +2801,81 @@ void testBoneDrilling()
sdk->setCurrentScene(scene);
sdk->startSimulation(false);
}
+
+// test virtual coupling for cylinder to sphere collision
+void testVirtualCouplingCylinder()
+{
+ // SDK and Scene
+ auto sdk = std::make_shared<imstk::SimulationManager>();
+ auto scene = sdk->createNewScene("VirtualCouplingCylinderSphere");
+
+ // Create a plane in the scene (visual)
+ auto planeGeom = std::make_shared<imstk::Plane>();
+ planeGeom->setWidth(10);
+ planeGeom->setPosition(0.0, -50, 0.0);
+ auto planeObj = std::make_shared<imstk::VisualObject>("Plane");
+ planeObj->setVisualGeometry(planeGeom);
+ scene->addSceneObject(planeObj);
+
+ // Create the virtual coupling object controller
+#ifdef iMSTK_USE_OPENHAPTICS
+
+ // Device clients
+ auto client = std::make_shared<imstk::HDAPIDeviceClient>("PHANToM 1");
+
+ // 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 a virtual coupling object
+ auto visualGeom = std::make_shared<imstk::Sphere>();
+ visualGeom->setRadius(5.);
+ auto collidingGeom = std::make_shared<imstk::Sphere>();
+ collidingGeom->setRadius(5);
+ auto virtualCouplingSphereObj = std::make_shared<CollidingObject>("VirtualCouplingObject");
+ virtualCouplingSphereObj->setCollidingGeometry(collidingGeom);
+ virtualCouplingSphereObj->setVisualGeometry(visualGeom);
+ scene->addSceneObject(virtualCouplingSphereObj);
+
+ // Create colliding cylinder scene object
+ auto CylinderGeom = std::make_shared<Cylinder>();
+ //CylinderGeom->setRadius(20.);
+ //CylinderGeom->setLength(40.);
+
+ auto CylinderObj = std::make_shared<CollidingObject>("Cylinder");
+ CylinderObj->setVisualGeometry(CylinderGeom);
+ CylinderObj->setCollidingGeometry(CylinderGeom);
+ scene->addSceneObject(CylinderObj);
+
+ // Create and add virtual coupling object controller in the scene
+ auto objController = std::make_shared<imstk::SceneObjectController>(virtualCouplingSphereObj,
+ deviceTracker);
+ scene->addObjectController(objController);
+
+ // Create a collision graph
+ auto graph = scene->getCollisionGraph();
+ auto pair = graph->addInteractionPair(CylinderObj, virtualCouplingSphereObj,
+ CollisionDetection::Type::SphereToCylinder,
+ CollisionHandling::Type::None,
+ CollisionHandling::Type::VirtualCoupling);
+
+ // Customize collision handling algorithm
+ auto colHandlingAlgo = std::dynamic_pointer_cast<VirtualCouplingCH>(pair->getCollisionHandlingB());
+ colHandlingAlgo->setStiffness(5e-1);
+ colHandlingAlgo->setDamping(0.005);
+
+#endif
+
+ // Move Camera
+ auto cam = scene->getCamera();
+ cam->setPosition(imstk::Vec3d(200, 200, 200));
+ cam->setFocalPoint(imstk::Vec3d(0, 0, 0));
+
+ //Run
+ sdk->setCurrentScene(scene);
+ sdk->startSimulation(false);
+}
--
GitLab