COMP: Clear more warning and clean up

Examples/PBD/PBDCollisionMultipleObjects/PBDCollisionMultipleObjectsExample.cpp

@@ -229,9 +229,9 @@ main()
     const double distanceY  = 5.0;
     const double minHeight  = -5.0;
 
-    std::vector<std::shared_ptr<SurfaceMesh>>   surfaceMeshes;
-    std::vector<std::shared_ptr<PbdObject>>     pbdObjs;
-    std::vector<std::shared_ptr<PbdSolver>>     pbdSolvers;
+    std::vector<std::shared_ptr<SurfaceMesh>> surfaceMeshes;
+    std::vector<std::shared_ptr<PbdObject>>   pbdObjs;
+    //std::vector<std::shared_ptr<PbdSolver>>     pbdSolvers;
     std::vector<std::shared_ptr<CollisionData>> allCollisionData;
     size_t                                      numTriangles = 0;
 
@@ -260,7 +260,7 @@ main()
                 generateDragon(scene, translation, mesh, pbdObj, solver);
                 surfaceMeshes.push_back(mesh);
                 pbdObjs.push_back(pbdObj);
-                pbdSolvers.push_back(solver);
+                //pbdSolvers.push_back(solver);
                 numTriangles += mesh->getNumTriangles();
 
                 // Collision between dragon with floor

Examples/RigidBodyVirtualCoupling/RigidBodyVirtualCouplingExample.cpp

@@ -20,16 +20,8 @@
 =========================================================================*/
 
 #include "imstkSimulationManager.h"
-#include "imstkRigidObject.h"
-#include "imstkRigidBodyModel.h"
 #include "imstkSceneObject.h"
 #include "imstkTetrahedralMesh.h"
-#include "imstkCube.h"
-#include "imstkPlane.h"
-#include "imstkSphere.h"
-#include "imstkMeshIO.h"
-#include "imstkIsometricMap.h"
-
 #include "imstkSimulationManager.h"
 #include "imstkVirtualCouplingCH.h"
 #include "imstkHDAPIDeviceServer.h"

Source/Animation/Particles/imstkRenderParticleEmitter.h

@@ -77,9 +77,9 @@ public:
     ///
     /// \brief Constructor
     ///
-    RenderParticleEmitter(std::shared_ptr<Geometry> geometry,
-                          const float               time = 3000.0f,
-                          Mode                      mode = Mode::CONTINUOUS);
+    explicit RenderParticleEmitter(std::shared_ptr<Geometry> geometry,
+                                   const float               time = 3000.0f,
+                                   Mode                      mode = Mode::CONTINUOUS);
 
     ///
     /// \brief Set animation geometry

Source/Collision/CollisionDetection/imstkCollisionDetection.cpp

@@ -178,9 +178,9 @@ CollisionDetection::makeCollisionDetectionObject(const Type
     }
 }
 
-CollisionDetection::CollisionDetection(const CollisionDetection::Type& type, std::shared_ptr<CollisionData> colData) : m_type(type)
+CollisionDetection::CollisionDetection(const CollisionDetection::Type& type, std::shared_ptr<CollisionData> colData) : m_type(type),
+    m_colData((colData == nullptr) ? std::make_shared<CollisionData>() : colData)
 {
-    m_colData = (colData == nullptr) ? std::make_shared<CollisionData>() : colData;
 }
 
 // Static functions ==>

Source/Collision/CollisionDetection/imstkOctreeBasedCD.h

@@ -47,7 +47,7 @@ public:
     /// \param name Name of the octree
     ///
     explicit OctreeBasedCD(const Vec3r& center, const Real width, const Real minWidth,
-                           const Real minWidthRatio = 1.0, const std::string name = "OctreeBasedCD") :
+                           const Real minWidthRatio = 1.0, const std::string& name = "OctreeBasedCD") :
         LooseOctree(center, width, minWidth, minWidthRatio, name) {}
 
     ///

Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.cpp

@@ -34,10 +34,12 @@ SurfaceMeshToSurfaceMeshCCD::SurfaceMeshToSurfaceMeshCCD(std::shared_ptr<Surface
                                                          std::shared_ptr<CollisionData> colData) :
     CollisionDetection(CollisionDetection::Type::SurfaceMeshToSurfaceMeshCCD, colData),
     m_meshA(meshA),
-    m_meshB(meshB)
+    m_meshB(meshB),
+    m_modelA(std::make_shared<DeformModel>(meshA->getVertexPositions(), meshA->getTrianglesVertices())),
+    m_modelB(std::make_shared<DeformModel>(meshB->getVertexPositions(), meshB->getTrianglesVertices()))
 {
-    m_modelA = std::make_shared<DeformModel>(meshA->getVertexPositions(), meshA->getTrianglesVertices());
-    m_modelB = std::make_shared<DeformModel>(meshB->getVertexPositions(), meshB->getTrianglesVertices());
+    //m_modelA = std::make_shared<DeformModel>(meshA->getVertexPositions(), meshA->getTrianglesVertices());
+    //m_modelB = std::make_shared<DeformModel>(meshB->getVertexPositions(), meshB->getTrianglesVertices());
 
     // Setup Callbacks
     m_modelA->SetEECallBack(SurfaceMeshToSurfaceMeshCCD::EECallback, this);

Source/Collision/CollisionHandling/imstkPickingCH.h

@@ -86,6 +86,6 @@ public:
 private:
 
     std::shared_ptr<DeformableObject> m_object;        ///> Deformable object
-    std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints;
+    std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints = nullptr;
 };
 }

Source/Collision/Testing/imstkTetraToTetraCDTest.cpp

@@ -39,7 +39,7 @@ protected:
 };
 
 std::shared_ptr<TetrahedralMesh>
-loadMesh(std::string externalDataSuffix)
+loadMesh(const std::string& externalDataSuffix)
 {
     std::string                      file = iMSTK_DATA_ROOT + externalDataSuffix;
     std::shared_ptr<TetrahedralMesh> volMesh

Source/Collision/imstkInteractionPair.cpp

@@ -29,12 +29,10 @@ InteractionPair::InteractionPair(std::shared_ptr<CollidingObject> A,
                                  std::shared_ptr<CollidingObject> B,
                                  CollisionDetection::Type         CDType,
                                  CollisionHandling::Type          CHAType,
-                                 CollisionHandling::Type          CHBType)
+                                 CollisionHandling::Type          CHBType) :
+    m_colData(std::make_shared<CollisionData>()),
+    m_valid(false)
 {
-    m_colData = std::make_shared<CollisionData>();
-
-    m_valid = false;
-
     // Check that objects exist
     CHECK(A != nullptr && B != nullptr) << "InteractionPair error: invalid objects (nullptr).";
 

Source/Collision/imstkPbdInteractionPair.h

@@ -78,8 +78,8 @@ private:
     std::shared_ptr<PbdObject> m_firstObj;
     std::shared_ptr<PbdObject> m_secondObj;
 
-    double       m_firstObjProximity;
-    double       m_secondObjProximity;
-    unsigned int maxIter;
+    double       m_firstObjProximity  = MAX_D;
+    double       m_secondObjProximity = MAX_D;
+    unsigned int maxIter = 50;
 };
 }

Source/Constraint/imstkLinearProjectionConstraint.h

@@ -36,7 +36,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    LinearProjectionConstraint(const size_t& nodeId, const bool isFixed = false);
+    explicit LinearProjectionConstraint(const size_t& nodeId, const bool isFixed = false);
     LinearProjectionConstraint() = delete;
 
     ///

Source/Core/Utils/imstkTimer.h

@@ -108,7 +108,7 @@ public:
     ///
     void printTimeElapsed(std::string const& name = std::string("noName"), const TimeUnitType unitType = TimeUnitType::milliSeconds);
 private:
-    TimerState state;
+    TimerState state = TimerState::stopped;
     std::vector<double>      lapTimes;
     std::vector<std::string> lapNames;
     std::chrono::high_resolution_clock::time_point wallClockTimeKeeper; ///> time keeper for wall clock time
@@ -145,7 +145,7 @@ public:
     double getTimeElapsed(const TimeUnitType unitType = TimeUnitType::milliSeconds) override;
 
 private:
-    std::clock_t cpuTimeKeeper; ///> time keeper for cpu time
+    std::clock_t cpuTimeKeeper = std::clock_t(); ///> time keeper for cpu time
 };
 
 ///

Source/Core/imstkLogger.cpp

@@ -20,22 +20,20 @@
 =========================================================================*/
 
 #include "imstkLogger.h"
+#include "imstkLogUtility.h"
 #include <cstring>
 
 namespace imstk
 {
-Logger::Logger(std::string filename)
+Logger::Logger(const std::string& filename) :
+    m_filename(filename + "_" + this->getCurrentTimeFormatted() + ".log"),
+    m_thread(std::thread(Logger::eventLoop, this))
 {
-    m_filename = filename + "_" + this->getCurrentTimeFormatted() + ".log";
-    m_mutex    = new std::mutex();
-    m_thread   = new std::thread(Logger::eventLoop, this);
 }
 
 Logger::~Logger()
 {
-    delete m_mutex;
-    m_thread->join();
-    delete m_thread;
+    m_thread.join();
 }
 
 std::string
@@ -85,8 +83,14 @@ Logger::eventLoop(Logger* logger)
     std::ofstream file(logger->m_filename);
     std::string   buffer;
 
-    while (logger->m_running) {
-        std::unique_lock<std::mutex> ul(*logger->m_mutex);
+    if (!file.is_open())
+    {
+        LOG(FATAL) << "Failed to open file: " << logger->m_filename;
+    }
+
+    while (logger->m_running)
+    {
+        std::unique_lock<std::mutex> ul(logger->m_mutex);
         logger->m_condition.wait(ul, [logger] { return logger->m_changed; });
 
         if (!logger->m_running)
@@ -109,7 +113,7 @@ Logger::eventLoop(Logger* logger)
 }
 
 void
-Logger::log(std::string message, bool prependTime /* = false */)
+Logger::log(const std::string& message, bool prependTime /* = false */)
 {
     m_message = "";
     if (prependTime)
@@ -120,12 +124,12 @@ Logger::log(std::string message, bool prependTime /* = false */)
 
     // Safely setting the change state
     {
-        std::lock_guard<std::mutex> guard(*m_mutex);
+        std::lock_guard<std::mutex> guard(m_mutex);
         m_changed = true;
     }
 
     m_condition.notify_one();
-    std::unique_lock<std::mutex> ul(*m_mutex);
+    std::unique_lock<std::mutex> ul(m_mutex);
     m_condition.wait(ul, [this] { return !m_changed; });
     ul.unlock();
 }
@@ -165,13 +169,13 @@ Logger::shutdown()
 {
     // Safely setting the running state
     {
-        std::lock_guard<std::mutex> guard(*m_mutex);
+        std::lock_guard<std::mutex> guard(m_mutex);
         m_changed = true;
         m_running = false;
     }
 
     m_condition.notify_one();
-    std::unique_lock<std::mutex> ul(*m_mutex);
+    std::unique_lock<std::mutex> ul(m_mutex);
     m_condition.wait(ul, [this] { return !m_changed; });
     ul.unlock();
 }

Source/Core/imstkLogger.h

@@ -47,7 +47,7 @@ public:
     /// \brief Logger instantiation method
     /// \params filename this name will be used in the file name of the log file
     ///
-    Logger(std::string filename);
+    explicit Logger(const std::string& filename);
     virtual ~Logger();
 
     ///
@@ -56,7 +56,7 @@ public:
     /// \params prependTime defines if the current time is prepended to
     ///         the message. Disabled by default.
     ///
-    void log(std::string message, bool prependTime = false);
+    void log(const std::string& message, bool prependTime = false);
 
     ///
     /// \brief Sets the frequency in Hz. This also updates the period.
@@ -102,7 +102,7 @@ private:
     static std::string getCurrentTimeFormatted();
 
     // Mutex for performance reasons
-    std::mutex* m_mutex;
+    std::mutex  m_mutex;
     std::string m_message;
     bool m_changed = false;
     bool m_running = true;
@@ -111,8 +111,8 @@ private:
     int       m_period      = 1000 / 30;
     long long m_lastLogTime = 0;
 
-    std::string  m_filename;
-    std::thread* m_thread;
+    std::string m_filename;
+    std::thread m_thread;
     std::condition_variable m_condition;
 };
 }

Source/Core/imstkModule.h

@@ -55,7 +55,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    Module(std::string name, int loopDelay = 0) :
+    Module(const std::string& name, int loopDelay = 0) :
         m_name(name),
         m_loopDelay(loopDelay) {}
 

Source/DataStructures/imstkGraph.h

@@ -44,7 +44,7 @@ public:
     ///
     /// \brief Constructor/destructor
     ///
-    Graph(const size_t size) { m_adjList.resize(size); }
+    explicit Graph(const size_t size) { m_adjList.resize(size); }
     ~Graph() = default;
 
     ///

Source/DataStructures/imstkGridBasedNeighborSearch.h

@@ -38,7 +38,7 @@ public:
     /// \brief Construct class with search radius
     /// \param radius The search radius
     ///
-    GridBasedNeighborSearch(const Real radius) : m_SearchRadius(radius), m_SearchRadiusSqr(radius * radius) {}
+    explicit GridBasedNeighborSearch(const Real radius) : m_SearchRadius(radius), m_SearchRadiusSqr(radius * radius) {}
 
     ///
     /// \brief Set the search radius

Source/DataStructures/imstkNeighborSearch.h

@@ -46,7 +46,7 @@ public:
     /// \brief Constructor
     /// \param The selected search method
     ///
-    NeighborSearch(Method searchMethod, Real searchRadius = 0);
+    explicit NeighborSearch(Method searchMethod, Real searchRadius = 0);
 
     ///
     /// \brief Set the search radius

Source/DataStructures/imstkSpatialHashTableSeparateChaining.cpp

@@ -23,10 +23,10 @@
 
 namespace imstk
 {
-SpatialHashTableSeparateChaining::SpatialHashTableSeparateChaining()
-    : SpatialHashTable()
+SpatialHashTableSeparateChaining::SpatialHashTableSeparateChaining() :
+    SpatialHashTable(),
+    m_table(std::make_shared<std::unordered_set<PointEntry>>())
 {
-    m_table = std::make_shared<std::unordered_set<PointEntry>>();
     this->clear();
 }
 

Source/Devices/imstkDeviceClient.h

@@ -100,7 +100,7 @@ protected:
     ///
     /// \brief Constructor
     ///
-    DeviceClient(std::string name, std::string ip) :
+    DeviceClient(const std::string& name, const std::string& ip) :
         m_deviceName(name),
         m_ip(ip)
     {}