diff --git a/CMakeLists.txt b/CMakeLists.txt
index 02b8e3f91b4d4de48bef6e7532664920af44e538..711bea25ce584912ae01a95e246ca44986ef2146 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -366,6 +366,8 @@ set(${PROJECT_NAME}_INSTALL_FOLDER ${PROJECT_NAME}-${${PROJECT_NAME}_VERSION_MAJ
#--------------------------------------------------------------------------
add_subdirectory(Source/Common)
add_subdirectory(Source/Geometry)
+add_subdirectory(Source/MeshIO)
+add_subdirectory(Source/GeometryMappers)
add_subdirectory(Source/DataStructures)
add_subdirectory(Source/Constraint)
add_subdirectory(Source/Devices)
@@ -374,10 +376,11 @@ add_subdirectory(Source/Rendering/GUIOverlay)
add_subdirectory(Source/Rendering)
add_subdirectory(Source/Solvers)
add_subdirectory(Source/DynamicalModels)
-add_subdirectory(Source/Scene/SceneElements)
+add_subdirectory(Source/SceneEntities)
add_subdirectory(Source/Animation)
add_subdirectory(Source/Controllers)
-add_subdirectory(Source/Collision)
+add_subdirectory(Source/CollisionDetection)
+add_subdirectory(Source/CollisionHandling)
add_subdirectory(Source/Scene)
add_subdirectory(Source/SimulationManager)
add_subdirectory(Source/apiUtilities)
diff --git a/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp b/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
index b16814ba18a8bdc3c7b800e71cae0a08ea0a7e58..a36fe291a8cdfc2dfaa47d2ff63094dbaac2f2dd 100644
--- a/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
+++ b/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
@@ -112,8 +112,9 @@ addPointsDebugRendering(const std::shared_ptr<Scene>& scene)
auto material = std::make_shared<RenderMaterial>();
material->setDebugColor(Color::Yellow);
material->setSphereGlyphSize(.01);
- debugPoints->setRenderMaterial(material);
- scene->addDebugGeometry(debugPoints);
+
+ auto dbgViz = std::make_shared<VisualModel>(debugPoints, material);
+ scene->addDebugVisualModel(dbgViz);
return std::dynamic_pointer_cast<DebugRenderGeometry>(debugPoints);
}
@@ -129,8 +130,9 @@ addVTConnectingLinesDebugRendering(const std::shared_ptr<Scene>& scene)
material->setBackFaceCulling(false);
material->setDebugColor(Color::Green);
material->setLineWidth(4.0);
- debugLines->setRenderMaterial(material);
- scene->addDebugGeometry(debugLines);
+
+ auto dbgViz = std::make_shared<VisualModel>(debugLines, material);
+ scene->addDebugVisualModel(dbgViz);
return std::dynamic_pointer_cast<DebugRenderGeometry>(debugLines);
}
@@ -146,8 +148,9 @@ addEEConnectingLinesDebugRendering(const std::shared_ptr<Scene>& scene)
material->setBackFaceCulling(false);
material->setDebugColor(Color::Red);
material->setLineWidth(4.0);
- debugLines->setRenderMaterial(material);
- scene->addDebugGeometry(debugLines);
+
+ auto dbgViz = std::make_shared<VisualModel>(debugLines, material);
+ scene->addDebugVisualModel(dbgViz);
return std::dynamic_pointer_cast<DebugRenderGeometry>(debugLines);
}
@@ -163,8 +166,9 @@ addHighlightedLinesDebugRendering(const std::shared_ptr<Scene>& scene)
material->setBackFaceCulling(false);
material->setDebugColor(Color::Orange);
material->setLineWidth(8.0);
- debugLines->setRenderMaterial(material);
- scene->addDebugGeometry(debugLines);
+
+ auto dbgViz = std::make_shared<VisualModel>(debugLines, material);
+ scene->addDebugVisualModel(dbgViz);
return std::dynamic_pointer_cast<DebugRenderGeometry>(debugLines);
}
diff --git a/Examples/DebugRendering/DebugRenderingExample.cpp b/Examples/DebugRendering/DebugRenderingExample.cpp
index 34510c7e26a717f4762cae13eea03201490b7b33..fa36764c3ae1f19ccdac4a000a4ce4d588aae98c 100644
--- a/Examples/DebugRendering/DebugRenderingExample.cpp
+++ b/Examples/DebugRendering/DebugRenderingExample.cpp
@@ -37,19 +37,19 @@
using namespace imstk;
-std::shared_ptr<DebugRenderGeometry>
+std::shared_ptr<DebugRenderPoints>
addPointsDebugRendering(const std::shared_ptr<Scene>& scene)
{
auto debugPoints = std::make_shared<DebugRenderPoints>("Debug Points");
auto material = std::make_shared<RenderMaterial>();
material->setDebugColor(Color::Blue);
- debugPoints->setRenderMaterial(material);
- scene->addDebugGeometry(debugPoints);
+ auto vizModel = std::make_shared<VisualModel>(debugPoints, material);
+ scene->addDebugVisualModel(vizModel);
- return std::dynamic_pointer_cast<DebugRenderGeometry>(debugPoints);
+ return debugPoints;
}
-std::shared_ptr<DebugRenderGeometry>
+std::shared_ptr<DebugRenderLines>
addLinesDebugRendering(const std::shared_ptr<Scene>& scene)
{
auto debugLines = std::make_shared<DebugRenderLines>("Debug Lines");
@@ -57,13 +57,13 @@ addLinesDebugRendering(const std::shared_ptr<Scene>& scene)
material->setBackFaceCulling(false);
material->setDebugColor(Color::Green);
material->setLineWidth(2.0);
- debugLines->setRenderMaterial(material);
- scene->addDebugGeometry(debugLines);
+ auto vizModel = std::make_shared<VisualModel>(debugLines, material);
+ scene->addDebugVisualModel(vizModel);
- return std::dynamic_pointer_cast<DebugRenderGeometry>(debugLines);
+ return debugLines;
}
-std::shared_ptr<DebugRenderGeometry>
+std::shared_ptr<DebugRenderTriangles>
addTrianglesDebugRendering(const std::shared_ptr<Scene>& scene)
{
auto debugTriangles = std::make_shared<DebugRenderTriangles>("Debug Triangles");
@@ -71,10 +71,9 @@ addTrianglesDebugRendering(const std::shared_ptr<Scene>& scene)
material->setBackFaceCulling(false);
material->setDebugColor(Color::Red);
material->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- debugTriangles->setRenderMaterial(material);
- scene->addDebugGeometry(debugTriangles);
+ auto vizModel = std::make_shared<VisualModel>(debugTriangles, material);
- return std::dynamic_pointer_cast<DebugRenderGeometry>(debugTriangles);
+ return debugTriangles;
}
Vec3d
diff --git a/Examples/DeformableBody/DeformableBodyExample.cpp b/Examples/DeformableBody/DeformableBodyExample.cpp
index 03f9c3966eee5cadcce3e38c37df71d693498b70..a49faf30dcbb8f0bb199bc3bf57ddbd0510369dd 100644
--- a/Examples/DeformableBody/DeformableBodyExample.cpp
+++ b/Examples/DeformableBody/DeformableBodyExample.cpp
@@ -49,7 +49,7 @@ int
main()
{
// simManager and Scene
- auto simConfig = std::make_shared<simManagerConfig>();
+ auto simConfig = std::make_shared<SimManagerConfig>();
simConfig->simulationMode = SimulationMode::Rendering;
auto simManager = std::make_shared<SimulationManager>(simConfig);
auto scene = simManager->createNewScene("DeformableBodyFEM");
diff --git a/Examples/LineMesh/LineMeshExample.cpp b/Examples/LineMesh/LineMeshExample.cpp
index fd64ccea6c23256771bedfe08ec8d368368cf704..0aeb68af371224bdc2104561b8658d622c7ea2c2 100644
--- a/Examples/LineMesh/LineMeshExample.cpp
+++ b/Examples/LineMesh/LineMeshExample.cpp
@@ -52,7 +52,6 @@ main()
size_t numVoxels = resolution * resolution * resolution;
points.resize(numVoxels * 8);
- colors.resize(numVoxels * 8);
lines.resize(numVoxels * 12);
size_t index = 0;
@@ -75,15 +74,6 @@ main()
points[index + 6] = Vec3d(x + 1, y + 1, z);
points[index + 7] = Vec3d(x + 1, y + 1, z + 1);
- colors[index + 0] = color;
- colors[index + 1] = color;
- colors[index + 2] = color;
- colors[index + 3] = color;
- colors[index + 4] = color;
- colors[index + 5] = color;
- colors[index + 6] = color;
- colors[index + 7] = color;
-
lines[lineIndex + 0][0] = index + 0;
lines[lineIndex + 0][1] = index + 1;
lines[lineIndex + 1][0] = index + 2;
@@ -118,7 +108,6 @@ main()
}
lineMesh->initialize(points, lines);
- lineMesh->setVertexColors(colors);
auto lineModel = std::make_shared<VisualModel>(lineMesh);
lineModel->setRenderMaterial(lineMeshMaterial);
lineObject->addVisualModel(lineModel);
diff --git a/Examples/MultipleScenes/multipleScenes.cpp b/Examples/MultipleScenes/multipleScenes.cpp
index 0291b9fbf2eda88970a00fcc1c6edcbe99528618..ca7f47f6260aa6a56494be66b41aedbb6ace7fbd 100644
--- a/Examples/MultipleScenes/multipleScenes.cpp
+++ b/Examples/MultipleScenes/multipleScenes.cpp
@@ -194,7 +194,7 @@ createClothScene(std::shared_ptr<SimulationManager> simManager, const char* scen
void
testMultipleScenesInBackendMode()
{
- auto simConfig = std::make_shared<simManagerConfig>();
+ auto simConfig = std::make_shared<SimManagerConfig>();
simConfig->simulationMode = SimulationMode::Backend;
auto simManager = std::make_shared<SimulationManager>(simConfig);
@@ -292,7 +292,7 @@ testMultipleScenesInRenderMode()
void
testMultipleScenesInBackgroundMode()
{
- auto simConfig = std::make_shared<simManagerConfig>();
+ auto simConfig = std::make_shared<SimManagerConfig>();
simConfig->simulationMode = SimulationMode::RunInBackgroundSync;
auto simManager = std::make_shared<SimulationManager>(simConfig);
auto scene1 = createClothScene(simManager, "clothScene");
diff --git a/Examples/Octree/OctreeExample.cpp b/Examples/Octree/OctreeExample.cpp
index 512240c6f90dc8864684fcbdc46856fadffeb1ca..0b7cb17e64df2cbcd9678a4d441d92fe53684bb7 100644
--- a/Examples/Octree/OctreeExample.cpp
+++ b/Examples/Octree/OctreeExample.cpp
@@ -165,7 +165,12 @@ main()
// Create debug geometry for the octree (render up to 8 levels, and render all non-empty nodes)
const auto debugOctree = octree.getDebugGeometry(8, true);
- scene->addDebugGeometry(debugOctree);
+
+ const auto matDbgViz = std::make_shared<RenderMaterial>();
+ matDbgViz->setDebugColor(Color::Green);
+ matDbgViz->setLineWidth(1.0);
+ auto octreeVizDbgModel = std::make_shared<VisualModel>(debugOctree, matDbgViz);
+ scene->addDebugVisualModel(octreeVizDbgModel);
// Data for animation
const double translation = 15.0;
diff --git a/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt b/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
index 6a167b0465190129a90bd23086089a3fa8bee1f4..948698f2abf8483aa3c5fb9ebab4855e91ad502b 100644
--- a/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
+++ b/Examples/PBD/PBDCollisionMultipleObjects/CMakeLists.txt
@@ -36,4 +36,4 @@ SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
-target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities)
+target_link_libraries(${PROJECT_NAME} SimulationManager apiUtilities )
diff --git a/Source/Animation/CMakeLists.txt b/Source/Animation/CMakeLists.txt
index 779a1168b68021ea82a76ad770986930003b64da..6bf130e7684c5569375938f6773619490fd6d47f 100644
--- a/Source/Animation/CMakeLists.txt
+++ b/Source/Animation/CMakeLists.txt
@@ -5,8 +5,9 @@ include(imstkAddLibrary)
imstk_add_library( Animation
DEPENDS
Common
- #Geometry
- SceneElements
+ Geometry
+ Materials
+ SceneEntities
)
#-----------------------------------------------------------------------------
diff --git a/Source/Animation/Particles/imstkRenderParticleEmitter.cpp b/Source/Animation/Particles/imstkRenderParticleEmitter.cpp
index 41df212733501e27e816b5668c99e4f2a6a218ed..0cf3c618e03203587e5126221bbb6b9eb36918cf 100644
--- a/Source/Animation/Particles/imstkRenderParticleEmitter.cpp
+++ b/Source/Animation/Particles/imstkRenderParticleEmitter.cpp
@@ -231,7 +231,8 @@ RenderParticleEmitter::update()
particle->m_scale = (alpha * endKeyFrame->m_scale)
+ ((1.0f - alpha) * startKeyFrame->m_scale);
- this->interpolateColor(particle->m_color,
+ auto particleColor = imstk::Color(particle->m_color[0], particle->m_color[1], particle->m_color[2], particle->m_color[3]);
+ this->interpolateColor(particleColor,
endKeyFrame->m_color,
startKeyFrame->m_color,
alpha);
diff --git a/Source/Animation/Particles/imstkRenderParticleEmitter.h b/Source/Animation/Particles/imstkRenderParticleEmitter.h
index bd7280735807fbeb9783ce099b4ab27a95e6261b..996e5c470970d09cf2278350450fbd23bdfe321e 100644
--- a/Source/Animation/Particles/imstkRenderParticleEmitter.h
+++ b/Source/Animation/Particles/imstkRenderParticleEmitter.h
@@ -25,10 +25,11 @@
#include "imstkAnimationModel.h"
#include "imstkRenderParticles.h"
#include "imstkTimer.h"
+#include "imstkColor.h"
namespace imstk
{
-struct Color;
+//struct Color;
///
/// \struct RenderParticleKeyFrame
diff --git a/Source/Collision/CMakeLists.txt b/Source/CollisionDetection/CMakeLists.txt
similarity index 70%
rename from Source/Collision/CMakeLists.txt
rename to Source/CollisionDetection/CMakeLists.txt
index c55306555ee88974c81ef453a3a0e942d9ba2f23..3917cada24284be6cede7b66b5debe2e0a8d0014 100644
--- a/Source/Collision/CMakeLists.txt
+++ b/Source/CollisionDetection/CMakeLists.txt
@@ -2,14 +2,13 @@
# Create target
#-----------------------------------------------------------------------------
include(imstkAddLibrary)
-imstk_add_library( Collision
+imstk_add_library( CollisionDetection
DEPENDS
+ Common
DataStructures
Geometry
- SceneElements
- DynamicalModels
- Controllers
- SCCD
+ MeshIO #TODO: remove this dependency
+ SCCD
)
#-----------------------------------------------------------------------------
@@ -19,6 +18,6 @@ if( ${PROJECT_NAME}_BUILD_TESTING )
include(imstkAddTest)
- imstk_add_test(Collision)
- imstk_add_data(Collision ${FILE_LIST_COL_TEST})
+ imstk_add_test(CollisionDetection)
+ imstk_add_data(CollisionDetection ${FILE_LIST_COL_TEST})
endif()
diff --git a/Source/Collision/CollisionData/imstkCollisionData.h b/Source/CollisionDetection/CollisionData/imstkCollisionData.h
similarity index 100%
rename from Source/Collision/CollisionData/imstkCollisionData.h
rename to Source/CollisionDetection/CollisionData/imstkCollisionData.h
diff --git a/Source/Collision/CollisionDetection/imstkBidirectionalPlaneToSphereCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkBidirectionalPlaneToSphereCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkBidirectionalPlaneToSphereCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkBidirectionalPlaneToSphereCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkBidirectionalPlaneToSphereCD.h b/Source/CollisionDetection/CollisionDetection/imstkBidirectionalPlaneToSphereCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkBidirectionalPlaneToSphereCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkBidirectionalPlaneToSphereCD.h
diff --git a/Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.cpp b/Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..231430dddb4aaf9ce99a7f82c03c134254bc4a39
--- /dev/null
+++ b/Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.cpp
@@ -0,0 +1,85 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#include "imstkCollisionDetection.h"
+#include "imstkCollisionData.h"
+#include "imstkOctreeBasedCD.h"
+#include "imstkSurfaceMesh.h"
+
+#include <g3log/g3log.hpp>
+
+namespace imstk
+{
+CollisionDetection::CollisionDetection(const CollisionDetection::Type& type, std::shared_ptr<CollisionData> colData) : m_type(type),
+ m_colData((colData == nullptr) ? std::make_shared<CollisionData>() : colData)
+{
+}
+
+// Static functions ==>
+void
+CollisionDetection::addCollisionPairToOctree(const std::shared_ptr<Geometry>& geomA,
+ const std::shared_ptr<Geometry>& geomB,
+ const Type collisionType,
+ const std::shared_ptr<CollisionData>& collisionData)
+{
+ auto addToOctree =
+ [&](const std::shared_ptr<Geometry>& geom) {
+ if (!s_OctreeCD->hasGeometry(geom->getGlobalIndex()))
+ {
+ if (geom->getType() == Geometry::Type::PointSet)
+ {
+ s_OctreeCD->addPointSet(std::dynamic_pointer_cast<PointSet>(geom));
+ }
+ else if (geom->getType() == Geometry::Type::SurfaceMesh)
+ {
+ s_OctreeCD->addTriangleMesh(std::dynamic_pointer_cast<SurfaceMesh>(geom));
+ }
+ else
+ {
+ s_OctreeCD->addAnalyticalGeometry(geom);
+ }
+ }
+ };
+
+ addToOctree(geomA);
+ addToOctree(geomB);
+ s_OctreeCD->addCollisionPair(geomA, geomB, collisionType, collisionData);
+}
+
+void
+CollisionDetection::updateInternalOctreeAndDetectCollision()
+{
+ if (s_OctreeCD->getNumCollisionPairs() > 0)
+ {
+ s_OctreeCD->update();
+ s_OctreeCD->detectCollision();
+ }
+}
+
+void
+CollisionDetection::clearInternalOctree()
+{
+ s_OctreeCD->clear();
+}
+
+// Static octree
+std::shared_ptr<OctreeBasedCD> CollisionDetection::s_OctreeCD = std::make_shared<OctreeBasedCD>(Vec3d(0, 0, 0), 100.0, 0.1, 1);
+}
diff --git a/Source/Collision/CollisionDetection/imstkCollisionDetection.h b/Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.h
similarity index 86%
rename from Source/Collision/CollisionDetection/imstkCollisionDetection.h
rename to Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.h
index a914598a52e9b70293dd27cb8e3c256f746d1307..ed8c7bcde19590d53231893748fcfa321e057731 100644
--- a/Source/Collision/CollisionDetection/imstkCollisionDetection.h
+++ b/Source/CollisionDetection/CollisionDetection/imstkCollisionDetection.h
@@ -66,18 +66,6 @@ public:
Custom
};
- ///
- /// \brief Static factory for collision detection sub classes
- /// If the collision pair is PointSet to SurfaceMesh, or SurfaceMesh to SurfaceMesh,
- /// it will be added to an internal static octree for detecting collision
- /// \todo Other collision pair may be considered to use octree too
- ///
- static std::shared_ptr<CollisionDetection> makeCollisionDetectionObject(
- const Type type,
- std::shared_ptr<CollidingObject> objA,
- std::shared_ptr<CollidingObject> objB,
- std::shared_ptr<CollisionData> colData);
-
///
/// \brief Constructor
///
@@ -114,10 +102,6 @@ public:
///
static void clearInternalOctree();
-protected:
- Type m_type = Type::Custom; ///< Collision detection algorithm type
- std::shared_ptr<CollisionData> m_colData; ///< Collision data
-
///
/// \brief Add the geometry into the background octree for collision detection
/// \todo Add line primitive geometry
@@ -127,6 +111,10 @@ protected:
const CollisionDetection::Type collisionType,
const std::shared_ptr<CollisionData>& collisionData);
+protected:
+ Type m_type = Type::Custom; ///< Collision detection algorithm type
+ std::shared_ptr<CollisionData> m_colData; ///< Collision data
+
/// Static octree for collision detection
/// This octree is valid throughout the lifetime of the program
/// and will serve as a background mean to detect collision between geometries
diff --git a/Source/Collision/CollisionDetection/imstkCollisionUtils.cpp b/Source/CollisionDetection/CollisionDetection/imstkCollisionUtils.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkCollisionUtils.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkCollisionUtils.cpp
diff --git a/Source/Collision/CollisionDetection/imstkCollisionUtils.h b/Source/CollisionDetection/CollisionDetection/imstkCollisionUtils.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkCollisionUtils.h
rename to Source/CollisionDetection/CollisionDetection/imstkCollisionUtils.h
diff --git a/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
similarity index 99%
rename from Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
index bf3a503e5af0b4b87f7a4f3de6f49b433c5bc7a4..a59e0ab21367088465ab2bdec6a256b05f68c373 100644
--- a/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
+++ b/Source/CollisionDetection/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
@@ -21,13 +21,13 @@
#include "imstkMeshToMeshBruteForceCD.h"
-#include "imstkCollidingObject.h"
+//#include "imstkCollidingObject.h"
#include "imstkCollisionData.h"
#include "imstkSurfaceMesh.h"
#include "imstkPointSet.h"
#include "imstkLineMesh.h"
#include "imstkGeometry.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
#include "imstkCollisionUtils.h"
#include <g3log/g3log.hpp>
diff --git a/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.h b/Source/CollisionDetection/CollisionDetection/imstkMeshToMeshBruteForceCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkMeshToMeshBruteForceCD.h
diff --git a/Source/Collision/CollisionDetection/imstkNarrowPhaseCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkNarrowPhaseCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkNarrowPhaseCD.h b/Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkNarrowPhaseCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkNarrowPhaseCD.h
diff --git a/Source/Collision/CollisionDetection/imstkOctreeBasedCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkOctreeBasedCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkOctreeBasedCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkOctreeBasedCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkOctreeBasedCD.h b/Source/CollisionDetection/CollisionDetection/imstkOctreeBasedCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkOctreeBasedCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkOctreeBasedCD.h
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToCapsuleCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToCapsuleCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToCapsuleCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToCapsuleCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToCapsuleCD.h b/Source/CollisionDetection/CollisionDetection/imstkPointSetToCapsuleCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToCapsuleCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToCapsuleCD.h
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToPlaneCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToPlaneCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToPlaneCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToPlaneCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToPlaneCD.h b/Source/CollisionDetection/CollisionDetection/imstkPointSetToPlaneCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToPlaneCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToPlaneCD.h
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSphereCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSphereCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSphereCD.h b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSphereCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.h
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSpherePickingCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSpherePickingCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSpherePickingCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSpherePickingCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSpherePickingCD.h b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSpherePickingCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSpherePickingCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSpherePickingCD.h
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSurfaceMeshCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSurfaceMeshCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSurfaceMeshCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSurfaceMeshCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkPointSetToSurfaceMeshCD.h b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSurfaceMeshCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkPointSetToSurfaceMeshCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkPointSetToSurfaceMeshCD.h
diff --git a/Source/Collision/CollisionDetection/imstkSphereToCylinderCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkSphereToCylinderCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSphereToCylinderCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkSphereToCylinderCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkSphereToCylinderCD.h b/Source/CollisionDetection/CollisionDetection/imstkSphereToCylinderCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSphereToCylinderCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkSphereToCylinderCD.h
diff --git a/Source/Collision/CollisionDetection/imstkSphereToSphereCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkSphereToSphereCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSphereToSphereCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkSphereToSphereCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkSphereToSphereCD.h b/Source/CollisionDetection/CollisionDetection/imstkSphereToSphereCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSphereToSphereCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkSphereToSphereCD.h
diff --git a/Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.h b/Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCCD.h
diff --git a/Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.h b/Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkSurfaceMeshToSurfaceMeshCD.h
diff --git a/Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkTetraToTetraCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkTetraToTetraCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkTetraToTetraCD.h b/Source/CollisionDetection/CollisionDetection/imstkTetraToTetraCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkTetraToTetraCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkTetraToTetraCD.h
diff --git a/Source/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
rename to Source/CollisionDetection/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
diff --git a/Source/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h b/Source/CollisionDetection/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
similarity index 100%
rename from Source/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
rename to Source/CollisionDetection/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
diff --git a/Source/Collision/Testing/imstkOctreeBasedCDTest.cpp b/Source/CollisionDetection/Testing/imstkOctreeBasedCDTest.cpp
similarity index 100%
rename from Source/Collision/Testing/imstkOctreeBasedCDTest.cpp
rename to Source/CollisionDetection/Testing/imstkOctreeBasedCDTest.cpp
diff --git a/Source/Collision/Testing/imstkTetraToTetraCDTest.cpp b/Source/CollisionDetection/Testing/imstkTetraToTetraCDTest.cpp
similarity index 95%
rename from Source/Collision/Testing/imstkTetraToTetraCDTest.cpp
rename to Source/CollisionDetection/Testing/imstkTetraToTetraCDTest.cpp
index 1ee4ddb66a4f21ff96d5680bb3d31720fa55411b..a1ab43d0c7c356e63e0ffacf065b633003504291 100644
--- a/Source/Collision/Testing/imstkTetraToTetraCDTest.cpp
+++ b/Source/CollisionDetection/Testing/imstkTetraToTetraCDTest.cpp
@@ -25,7 +25,6 @@
#include <memory>
#include "imstkCollisionData.h"
-#include "imstkIsometricMap.h"
#include "imstkMeshIO.h"
#include "imstkTetraToTetraCD.h"
#include "imstkTetrahedralMesh.h"
@@ -41,9 +40,9 @@ protected:
std::shared_ptr<TetrahedralMesh>
loadMesh(const std::string& externalDataSuffix)
{
- std::string file = iMSTK_DATA_ROOT + externalDataSuffix;
- std::shared_ptr<TetrahedralMesh> volMesh
- = std::static_pointer_cast<TetrahedralMesh>(imstk::MeshIO::read(file));
+ std::string file = iMSTK_DATA_ROOT + externalDataSuffix;
+
+ auto volMesh = std::static_pointer_cast<TetrahedralMesh>(imstk::MeshIO::read(file));
CHECK(volMesh != nullptr) << "Failed to read a volumetric mesh file : " << file;
diff --git a/Source/CollisionHandling/CMakeLists.txt b/Source/CollisionHandling/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..945f87540646cc3d6530e3dcd6200aec0cc29593
--- /dev/null
+++ b/Source/CollisionHandling/CMakeLists.txt
@@ -0,0 +1,21 @@
+#-----------------------------------------------------------------------------
+# Create target
+#-----------------------------------------------------------------------------
+include(imstkAddLibrary)
+imstk_add_library( CollisionHandling
+ DEPENDS
+ CollisionDetection
+ SceneEntities
+ Controllers
+ )
+
+#-----------------------------------------------------------------------------
+# Testing
+#-----------------------------------------------------------------------------
+#if( ${PROJECT_NAME}_BUILD_TESTING )
+
+# include(imstkAddTest)
+
+# imstk_add_test(Collision)
+# imstk_add_data(Collision ${FILE_LIST_COL_TEST})
+#endif()
diff --git a/Source/Collision/CollisionHandling/imstkBoneDrillingCH.cpp b/Source/CollisionHandling/imstkBoneDrillingCH.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkBoneDrillingCH.cpp
rename to Source/CollisionHandling/imstkBoneDrillingCH.cpp
diff --git a/Source/Collision/CollisionHandling/imstkBoneDrillingCH.h b/Source/CollisionHandling/imstkBoneDrillingCH.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkBoneDrillingCH.h
rename to Source/CollisionHandling/imstkBoneDrillingCH.h
diff --git a/Source/Collision/CollisionHandling/imstkCollisionHandling.cpp b/Source/CollisionHandling/imstkCollisionHandling.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkCollisionHandling.cpp
rename to Source/CollisionHandling/imstkCollisionHandling.cpp
diff --git a/Source/Collision/CollisionHandling/imstkCollisionHandling.h b/Source/CollisionHandling/imstkCollisionHandling.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkCollisionHandling.h
rename to Source/CollisionHandling/imstkCollisionHandling.h
diff --git a/Source/Collision/CollisionHandling/imstkPBDCollisionHandling.cpp b/Source/CollisionHandling/imstkPBDCollisionHandling.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPBDCollisionHandling.cpp
rename to Source/CollisionHandling/imstkPBDCollisionHandling.cpp
diff --git a/Source/Collision/CollisionHandling/imstkPBDCollisionHandling.h b/Source/CollisionHandling/imstkPBDCollisionHandling.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPBDCollisionHandling.h
rename to Source/CollisionHandling/imstkPBDCollisionHandling.h
diff --git a/Source/Collision/CollisionHandling/imstkPenaltyCH.cpp b/Source/CollisionHandling/imstkPenaltyCH.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPenaltyCH.cpp
rename to Source/CollisionHandling/imstkPenaltyCH.cpp
diff --git a/Source/Collision/CollisionHandling/imstkPenaltyCH.h b/Source/CollisionHandling/imstkPenaltyCH.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPenaltyCH.h
rename to Source/CollisionHandling/imstkPenaltyCH.h
diff --git a/Source/Collision/CollisionHandling/imstkPickingCH.cpp b/Source/CollisionHandling/imstkPickingCH.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPickingCH.cpp
rename to Source/CollisionHandling/imstkPickingCH.cpp
diff --git a/Source/Collision/CollisionHandling/imstkPickingCH.h b/Source/CollisionHandling/imstkPickingCH.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkPickingCH.h
rename to Source/CollisionHandling/imstkPickingCH.h
diff --git a/Source/Collision/CollisionHandling/imstkSPHCollisionHandling.cpp b/Source/CollisionHandling/imstkSPHCollisionHandling.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkSPHCollisionHandling.cpp
rename to Source/CollisionHandling/imstkSPHCollisionHandling.cpp
diff --git a/Source/Collision/CollisionHandling/imstkSPHCollisionHandling.h b/Source/CollisionHandling/imstkSPHCollisionHandling.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkSPHCollisionHandling.h
rename to Source/CollisionHandling/imstkSPHCollisionHandling.h
diff --git a/Source/Collision/CollisionHandling/imstkVirtualCouplingCH.cpp b/Source/CollisionHandling/imstkVirtualCouplingCH.cpp
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkVirtualCouplingCH.cpp
rename to Source/CollisionHandling/imstkVirtualCouplingCH.cpp
diff --git a/Source/Collision/CollisionHandling/imstkVirtualCouplingCH.h b/Source/CollisionHandling/imstkVirtualCouplingCH.h
similarity index 100%
rename from Source/Collision/CollisionHandling/imstkVirtualCouplingCH.h
rename to Source/CollisionHandling/imstkVirtualCouplingCH.h
diff --git a/Source/Common/CMakeLists.txt b/Source/Common/CMakeLists.txt
index 83ae7865ed1fc9bc8d0c00f9b365f4a08488a3e2..fd79865f63fd76aef8a5e48235b5d97dc4976335 100644
--- a/Source/Common/CMakeLists.txt
+++ b/Source/Common/CMakeLists.txt
@@ -16,3 +16,4 @@ if( ${PROJECT_NAME}_BUILD_TESTING )
include(imstkAddTest)
imstk_add_test( Common )
endif()
+
diff --git a/Source/Rendering/Materials/imstkColor.cpp b/Source/Common/imstkColor.cpp
similarity index 100%
rename from Source/Rendering/Materials/imstkColor.cpp
rename to Source/Common/imstkColor.cpp
diff --git a/Source/Rendering/Materials/imstkColor.h b/Source/Common/imstkColor.h
similarity index 100%
rename from Source/Rendering/Materials/imstkColor.h
rename to Source/Common/imstkColor.h
diff --git a/Source/Controllers/CMakeLists.txt b/Source/Controllers/CMakeLists.txt
index 9055b1c1b6f3b5b694b4bfb4dd0c35509e31af0c..f4071ef623e6c0b2f9d7ce8ce4d18f731201fd93 100644
--- a/Source/Controllers/CMakeLists.txt
+++ b/Source/Controllers/CMakeLists.txt
@@ -4,9 +4,8 @@
include(imstkAddLibrary)
imstk_add_library( Controllers
DEPENDS
- Common
- Scene
- SceneElements
+ Devices
+ SceneEntities
)
#-----------------------------------------------------------------------------
diff --git a/Source/DataStructures/CMakeLists.txt b/Source/DataStructures/CMakeLists.txt
index 1f181387d9bcfac053efd143b614ddde819e4000..98d8e6ae29048438eb82d0c684dbff7d541b2b66 100644
--- a/Source/DataStructures/CMakeLists.txt
+++ b/Source/DataStructures/CMakeLists.txt
@@ -5,8 +5,7 @@ include(imstkAddLibrary)
imstk_add_library( DataStructures
DEPENDS
Common
- #Materials
- Geometry
+ Geometry #TODO remove this dependency
)
#-----------------------------------------------------------------------------
diff --git a/Source/DataStructures/imstkLooseOctree.cpp b/Source/DataStructures/imstkLooseOctree.cpp
index 9f88d95419e1ce735331a27057325ee822e1fa7a..0ef44a90ba33b6dedd8e77d4cbb2f009d2539022 100644
--- a/Source/DataStructures/imstkLooseOctree.cpp
+++ b/Source/DataStructures/imstkLooseOctree.cpp
@@ -25,7 +25,7 @@
#include "imstkPointSet.h"
#include "imstkSurfaceMesh.h"
#include "imstkDebugRenderGeometry.h"
-#include "imstkRenderMaterial.h"
+//#include "imstkRenderMaterial.h"
namespace imstk
{
@@ -1026,10 +1026,6 @@ LooseOctree::getDebugGeometry(const uint32_t maxLevel, bool bDrawNonEmptyParent
// Create debug geometry and set default rendering mateirial
m_DebugGeometry = std::make_shared<DebugRenderLines>("OctreeDebugRendering");
- const auto material = std::make_shared<RenderMaterial>();
- material->setDebugColor(Color::Green);
- material->setLineWidth(1.0);
- m_DebugGeometry->setRenderMaterial(material);
// Update debug rendering data (if any)
m_pRootNode->updateDebugGeometry();
diff --git a/Source/DynamicalModels/CMakeLists.txt b/Source/DynamicalModels/CMakeLists.txt
index adb258a712ff1998c80ac6c6b1e4e57a88e290b4..b69970a4c2ad14e919c332a40d157f5059c74a5a 100644
--- a/Source/DynamicalModels/CMakeLists.txt
+++ b/Source/DynamicalModels/CMakeLists.txt
@@ -10,8 +10,7 @@ imstk_add_library( DynamicalModels
ObjectModels
ObjectModels/PbdConstraints
InternalForceModel
- DEPENDS
- Common
+ DEPENDS
DataStructures
Constraints
Geometry
diff --git a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
index 4d9715513c89c95acfac9f9728f70e7d97617689..188949934a7743c086eb10660386b07ba27b1fda 100644
--- a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
@@ -35,7 +35,7 @@
#include "imstkParallelUtils.h"
#include "imstkGeometryUtilities.h"
#include "imstkMeshIO.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
#include <unordered_map>
diff --git a/Source/Geometry/CMakeLists.txt b/Source/Geometry/CMakeLists.txt
index 82540c2e850d874744b0ca01a31106a964841128..d3eb93e9a206193c0108dc7755c6dc3b7f400c3f 100644
--- a/Source/Geometry/CMakeLists.txt
+++ b/Source/Geometry/CMakeLists.txt
@@ -4,11 +4,7 @@
include(imstkAddLibrary)
imstk_add_library( Geometry
DEPENDS
- Common
- glm
- Assimp
- Materials
- VegaFEM::volumetricMesh
+ Common
${VTK_LIBRARIES}
)
diff --git a/Source/Geometry/Decal/imstkDecalPool.cpp b/Source/Geometry/Decal/imstkDecalPool.cpp
index 17d6d7c23fd864398feac51c906c8cc2b494f944..7c496a5191b751e65620cb2d25bf53a510d43ab3 100644
--- a/Source/Geometry/Decal/imstkDecalPool.cpp
+++ b/Source/Geometry/Decal/imstkDecalPool.cpp
@@ -20,6 +20,7 @@
=========================================================================*/
#include "imstkDecalPool.h"
+#include "imstkLogger.h"
namespace imstk
{
diff --git a/Source/Geometry/Decal/imstkDecalPool.h b/Source/Geometry/Decal/imstkDecalPool.h
index 787136b914d831e862d0e6bca6008a5786b2b99c..e19a847c8bbbcf775838aa07b57a59b5c79f1559 100644
--- a/Source/Geometry/Decal/imstkDecalPool.h
+++ b/Source/Geometry/Decal/imstkDecalPool.h
@@ -26,7 +26,7 @@
#include "imstkDecal.h"
#include "imstkGeometry.h"
-#include "imstkRenderMaterial.h"
+//#include "imstkRenderMaterial.h"
namespace imstk
{
diff --git a/Source/Geometry/Mesh/imstkLineMesh.cpp b/Source/Geometry/Mesh/imstkLineMesh.cpp
index 0ab7c7b683094b55a86e778c30173c74318ba3f2..b90b21c780a94c9e81fdc6667deb45f2ca7b7a77 100644
--- a/Source/Geometry/Mesh/imstkLineMesh.cpp
+++ b/Source/Geometry/Mesh/imstkLineMesh.cpp
@@ -21,7 +21,6 @@
#include "imstkLineMesh.h"
#include "imstkLogger.h"
-#include "imstkColor.h"
namespace imstk
{
@@ -40,7 +39,6 @@ void
LineMesh::clear()
{
m_lines.clear();
- m_vertexColors.clear();
}
void
@@ -55,19 +53,6 @@ LineMesh::getVolume() const
return 0.0;
}
-void
-LineMesh::setVertexColors(const std::vector<Color>& colors)
-{
- if (colors.size() <= m_maxNumVertices)
- {
- m_vertexColors = colors;
- }
- else
- {
- LOG(WARNING) << "Vertex colors not set, exceeded maximum number of vertices";
- }
-}
-
void
LineMesh::setLinesVertices(const std::vector<LineArray>& lines)
{
@@ -100,10 +85,4 @@ LineMesh::getLinesVertices() const
{
return m_lines;
}
-
-std::vector<Color>
-LineMesh::getVertexColors() const
-{
- return m_vertexColors;
-}
} // imstk
diff --git a/Source/Geometry/Mesh/imstkLineMesh.h b/Source/Geometry/Mesh/imstkLineMesh.h
index 905fc6cc0d483bae462da2f0888b4b8f67a67c1b..00e472e62b0dd4171deae1e5475836e34a45fd58 100644
--- a/Source/Geometry/Mesh/imstkLineMesh.h
+++ b/Source/Geometry/Mesh/imstkLineMesh.h
@@ -66,11 +66,6 @@ public:
///
double getVolume() const override;
- ///
- /// \brief
- ///
- void setVertexColors(const std::vector<Color>& colors);
-
///
/// \brief
///
@@ -86,11 +81,6 @@ public:
///
std::vector<LineArray> getLinesVertices() const;
- ///
- /// \brief
- ///
- std::vector<Color> getVertexColors() const;
-
private:
friend class VTKLineMeshRenderDelegate;
@@ -98,6 +88,5 @@ private:
size_t m_maxNumLines = 0;
std::vector<LineArray> m_lines; ///> line connectivity
- std::vector<Color> m_vertexColors;
};
} // imstk
diff --git a/Source/Geometry/Mesh/imstkVolumetricMesh.cpp b/Source/Geometry/Mesh/imstkVolumetricMesh.cpp
index ef3325f79084cf4076626fedea35dc7aa0f0d28e..c05f409b2a3975b615d12c9f014bfe6e2ffa4a02 100644
--- a/Source/Geometry/Mesh/imstkVolumetricMesh.cpp
+++ b/Source/Geometry/Mesh/imstkVolumetricMesh.cpp
@@ -23,12 +23,6 @@
#include "imstkSurfaceMesh.h"
#include "imstkLogger.h"
-#pragma warning( push )
-#pragma warning( disable : 4458 )
-// Vega
-#include "volumetricMesh.h"
-#pragma warning( pop )
-
namespace imstk
{
std::shared_ptr<SurfaceMesh>
diff --git a/Source/Geometry/Particles/imstkRenderParticles.h b/Source/Geometry/Particles/imstkRenderParticles.h
index 3239da80f7d680fda415cc2e831c403f32451afe..9e65f0caae6ee000f600b7af1f2f2f07728fe641 100644
--- a/Source/Geometry/Particles/imstkRenderParticles.h
+++ b/Source/Geometry/Particles/imstkRenderParticles.h
@@ -28,7 +28,7 @@
#include "imstkGeometry.h"
#include "imstkMath.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
namespace imstk
{
@@ -42,7 +42,7 @@ struct RenderParticle
Vec3f m_position = Vec3f(0, 0, 0);
Vec3f m_velocity = Vec3f(0, 0, 0);
Vec3f m_acceleration = Vec3f(0, 0, 0);
- Color m_color = Color::White;
+ Vec4d m_color = Vec4d(1., 1., 1., 1.);
float m_age = 0;
bool m_created = false;
float m_scale = 1.0f;
diff --git a/Source/Geometry/imstkDebugRenderGeometry.cpp b/Source/Geometry/imstkDebugRenderGeometry.cpp
index ecc302b0689b4317000ea4a16b341d41214f712e..52574285025b6c0b5541c661c33471f891b4d0ab 100644
--- a/Source/Geometry/imstkDebugRenderGeometry.cpp
+++ b/Source/Geometry/imstkDebugRenderGeometry.cpp
@@ -20,6 +20,7 @@
=========================================================================*/
#include "imstkDebugRenderGeometry.h"
+#include "imstkLogger.h"
namespace imstk
{
@@ -27,7 +28,7 @@ const Vec3d&
DebugRenderGeometry::getVertex(const size_t idx) const
{
#if defined(DEBUG) || defined(_DEBUG) || !defined(NDEBUG)
- LOG_IF(FATAL, (idx >= getNumVertices())) << "Invalid index";
+ CHECK(idx < getNumVertices()) << "Invalid index";
#endif
return m_VertexBuffer[idx];
}
@@ -36,20 +37,8 @@ void
DebugRenderGeometry::setVertex(const size_t idx, const Vec3d& vert)
{
#if defined(DEBUG) || defined(_DEBUG) || !defined(NDEBUG)
- LOG_IF(FATAL, (idx >= getNumVertices())) << "Invalid index";
+ CHECK(idx < getNumVertices()) << "Invalid index";
#endif
m_VertexBuffer[idx] = vert;
}
-
-void
-DebugRenderGeometry::setRenderMaterial(const std::shared_ptr<RenderMaterial>& renderMat)
-{
- m_renderMaterial = renderMat;
-}
-
-const std::shared_ptr<imstk::RenderMaterial>&
-DebugRenderGeometry::getRenderMaterial() const
-{
- return m_renderMaterial;
-}
} // end namespace imstk
diff --git a/Source/Geometry/imstkDebugRenderGeometry.h b/Source/Geometry/imstkDebugRenderGeometry.h
index 6d170d1bfae253fbf612c1dcfc1e750c0333bf35..86fbef44a286f650b262ac789c3d83e1b69eb1bf 100644
--- a/Source/Geometry/imstkDebugRenderGeometry.h
+++ b/Source/Geometry/imstkDebugRenderGeometry.h
@@ -22,7 +22,6 @@
#pragma once
#include "imstkMath.h"
-#include "imstkRenderMaterial.h"
namespace imstk
{
@@ -108,12 +107,6 @@ public:
bool isModified() const { return m_isModified; }
void setDataModified(const bool bState) { m_isModified = bState; }
- ///
- /// \brief Set/Get render material
- ///
- void setRenderMaterial(const std::shared_ptr<RenderMaterial>& renderMat);
- const std::shared_ptr<RenderMaterial>& getRenderMaterial() const;
-
protected:
friend class VTKRenderer;
friend class VTKRenderDelegate;
@@ -121,10 +114,10 @@ protected:
///
/// \brief Constructor
///
- explicit DebugRenderGeometry(const std::string& name, const Type type) :
- m_name(name), m_type(type), m_renderMaterial(std::make_shared<RenderMaterial>())
- {
- }
+ explicit DebugRenderGeometry(const std::string& name,
+ const Type type) :
+ m_name(name),
+ m_type(type) {}
virtual ~DebugRenderGeometry() = default;
@@ -132,9 +125,7 @@ protected:
Type m_type; ///> Debug geometry type
StdVectorOfVec3d m_VertexBuffer; ///> Vertex buffer
- bool m_renderDelegateCreated = false; ///> This variable is used in Renderer
bool m_isModified = false;
- std::shared_ptr<RenderMaterial> m_renderMaterial = nullptr;
};
///
diff --git a/Source/Geometry/imstkGeometryUtilities.cpp b/Source/Geometry/imstkGeometryUtilities.cpp
index c1da31885f344c2065d35370922f4f5a239ac618..225d33704f80df844b53ad27e46559f139c8a1ee 100644
--- a/Source/Geometry/imstkGeometryUtilities.cpp
+++ b/Source/Geometry/imstkGeometryUtilities.cpp
@@ -25,7 +25,6 @@
#include "imstkPointSet.h"
#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
-#include "imstkColor.h"
#include <vtkAppendPolyData.h>
#include <vtkCleanPolyData.h>
diff --git a/Source/GeometryMappers/CMakeLists.txt b/Source/GeometryMappers/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c12a86d3c5f2098bf0d5fd2e86d263cf7f9c4ea
--- /dev/null
+++ b/Source/GeometryMappers/CMakeLists.txt
@@ -0,0 +1,16 @@
+#-----------------------------------------------------------------------------
+# Create target
+#-----------------------------------------------------------------------------
+include(imstkAddLibrary)
+imstk_add_library( GeometryMappers
+ DEPENDS
+ Geometry
+ )
+
+#-----------------------------------------------------------------------------
+# Testing
+#-----------------------------------------------------------------------------
+#if( ${PROJECT_NAME}_BUILD_TESTING )
+# include(imstkAddTest)
+# imstk_add_test( GeometryMappers )
+#endif()
diff --git a/Source/Geometry/Map/imstkGeometryMap.cpp b/Source/GeometryMappers/imstkGeometryMap.cpp
similarity index 100%
rename from Source/Geometry/Map/imstkGeometryMap.cpp
rename to Source/GeometryMappers/imstkGeometryMap.cpp
diff --git a/Source/Geometry/Map/imstkGeometryMap.h b/Source/GeometryMappers/imstkGeometryMap.h
similarity index 100%
rename from Source/Geometry/Map/imstkGeometryMap.h
rename to Source/GeometryMappers/imstkGeometryMap.h
diff --git a/Source/Geometry/Map/imstkIdentityMap.cpp b/Source/GeometryMappers/imstkIdentityMap.cpp
similarity index 100%
rename from Source/Geometry/Map/imstkIdentityMap.cpp
rename to Source/GeometryMappers/imstkIdentityMap.cpp
diff --git a/Source/Geometry/Map/imstkIdentityMap.h b/Source/GeometryMappers/imstkIdentityMap.h
similarity index 100%
rename from Source/Geometry/Map/imstkIdentityMap.h
rename to Source/GeometryMappers/imstkIdentityMap.h
diff --git a/Source/Geometry/Map/imstkIsometricMap.cpp b/Source/GeometryMappers/imstkIsometricMap.cpp
similarity index 100%
rename from Source/Geometry/Map/imstkIsometricMap.cpp
rename to Source/GeometryMappers/imstkIsometricMap.cpp
diff --git a/Source/Geometry/Map/imstkIsometricMap.h b/Source/GeometryMappers/imstkIsometricMap.h
similarity index 100%
rename from Source/Geometry/Map/imstkIsometricMap.h
rename to Source/GeometryMappers/imstkIsometricMap.h
diff --git a/Source/Geometry/Map/imstkOneToOneMap.cpp b/Source/GeometryMappers/imstkOneToOneMap.cpp
similarity index 100%
rename from Source/Geometry/Map/imstkOneToOneMap.cpp
rename to Source/GeometryMappers/imstkOneToOneMap.cpp
diff --git a/Source/Geometry/Map/imstkOneToOneMap.h b/Source/GeometryMappers/imstkOneToOneMap.h
similarity index 100%
rename from Source/Geometry/Map/imstkOneToOneMap.h
rename to Source/GeometryMappers/imstkOneToOneMap.h
diff --git a/Source/Geometry/Map/imstkTetraTriangleMap.cpp b/Source/GeometryMappers/imstkTetraTriangleMap.cpp
similarity index 100%
rename from Source/Geometry/Map/imstkTetraTriangleMap.cpp
rename to Source/GeometryMappers/imstkTetraTriangleMap.cpp
diff --git a/Source/Geometry/Map/imstkTetraTriangleMap.h b/Source/GeometryMappers/imstkTetraTriangleMap.h
similarity index 100%
rename from Source/Geometry/Map/imstkTetraTriangleMap.h
rename to Source/GeometryMappers/imstkTetraTriangleMap.h
diff --git a/Source/MeshIO/CMakeLists.txt b/Source/MeshIO/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d26bc6ff931da03f666ca371b26bb0379ee7d391
--- /dev/null
+++ b/Source/MeshIO/CMakeLists.txt
@@ -0,0 +1,21 @@
+#-----------------------------------------------------------------------------
+# Create target
+#-----------------------------------------------------------------------------
+include(imstkAddLibrary)
+imstk_add_library( MeshIO
+ DEPENDS
+ Common
+ Geometry
+ glm
+ Assimp
+ VegaFEM::volumetricMesh
+ ${VTK_LIBRARIES}
+ )
+
+#-----------------------------------------------------------------------------
+# Testing
+#-----------------------------------------------------------------------------
+#if( ${PROJECT_NAME}_BUILD_TESTING )
+# include(imstkAddTest)
+# imstk_add_test( Geometry )
+#endif()
diff --git a/Source/Geometry/Reader/imstkAssimpMeshIO.cpp b/Source/MeshIO/imstkAssimpMeshIO.cpp
similarity index 100%
rename from Source/Geometry/Reader/imstkAssimpMeshIO.cpp
rename to Source/MeshIO/imstkAssimpMeshIO.cpp
diff --git a/Source/Geometry/Reader/imstkAssimpMeshIO.h b/Source/MeshIO/imstkAssimpMeshIO.h
similarity index 100%
rename from Source/Geometry/Reader/imstkAssimpMeshIO.h
rename to Source/MeshIO/imstkAssimpMeshIO.h
diff --git a/Source/Geometry/Reader/imstkMSHMeshIO.cpp b/Source/MeshIO/imstkMSHMeshIO.cpp
similarity index 100%
rename from Source/Geometry/Reader/imstkMSHMeshIO.cpp
rename to Source/MeshIO/imstkMSHMeshIO.cpp
diff --git a/Source/Geometry/Reader/imstkMSHMeshIO.h b/Source/MeshIO/imstkMSHMeshIO.h
similarity index 100%
rename from Source/Geometry/Reader/imstkMSHMeshIO.h
rename to Source/MeshIO/imstkMSHMeshIO.h
diff --git a/Source/Geometry/Reader/imstkMeshIO.cpp b/Source/MeshIO/imstkMeshIO.cpp
similarity index 99%
rename from Source/Geometry/Reader/imstkMeshIO.cpp
rename to Source/MeshIO/imstkMeshIO.cpp
index aad6421d3bde995f97b2fa9e62fa0bf4713db17e..5245897c0764daf0571efd3b2e616ab5d8829c20 100644
--- a/Source/Geometry/Reader/imstkMeshIO.cpp
+++ b/Source/MeshIO/imstkMeshIO.cpp
@@ -26,7 +26,7 @@
#include "imstkAssimpMeshIO.h"
#include "imstkVegaMeshIO.h"
#include "imstkMSHMeshIO.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
#include "imstkSurfaceMesh.h"
#include "imstkLineMesh.h"
diff --git a/Source/Geometry/Reader/imstkMeshIO.h b/Source/MeshIO/imstkMeshIO.h
similarity index 100%
rename from Source/Geometry/Reader/imstkMeshIO.h
rename to Source/MeshIO/imstkMeshIO.h
diff --git a/Source/Geometry/Reader/imstkVTKMeshIO.cpp b/Source/MeshIO/imstkVTKMeshIO.cpp
similarity index 99%
rename from Source/Geometry/Reader/imstkVTKMeshIO.cpp
rename to Source/MeshIO/imstkVTKMeshIO.cpp
index 08ec904a61531aa7ab5b2fa78c5afe039b01eef8..80b1363fe5b821d4fc52665b3a39a7551eae4cf1 100644
--- a/Source/Geometry/Reader/imstkVTKMeshIO.cpp
+++ b/Source/MeshIO/imstkVTKMeshIO.cpp
@@ -45,7 +45,7 @@
#include "imstkTetrahedralMesh.h"
#include "imstkHexahedralMesh.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
#include "imstkLogger.h"
namespace imstk
diff --git a/Source/Geometry/Reader/imstkVTKMeshIO.h b/Source/MeshIO/imstkVTKMeshIO.h
similarity index 100%
rename from Source/Geometry/Reader/imstkVTKMeshIO.h
rename to Source/MeshIO/imstkVTKMeshIO.h
diff --git a/Source/Geometry/Reader/imstkVegaMeshIO.cpp b/Source/MeshIO/imstkVegaMeshIO.cpp
similarity index 100%
rename from Source/Geometry/Reader/imstkVegaMeshIO.cpp
rename to Source/MeshIO/imstkVegaMeshIO.cpp
diff --git a/Source/Geometry/Reader/imstkVegaMeshIO.h b/Source/MeshIO/imstkVegaMeshIO.h
similarity index 100%
rename from Source/Geometry/Reader/imstkVegaMeshIO.h
rename to Source/MeshIO/imstkVegaMeshIO.h
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
index 3aadee943259637fd06e8302f04a702b2cd0ace9..10c5c39b147fdc40aac0f3378fb208f7dd226f9e 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
@@ -29,6 +29,7 @@
#include <vtkFloatArray.h>
#include <vtkLineSource.h>
#include <vtkPointData.h>
+#include <vtkCellData.h>
#include <vtkPolyData.h>
#include <vtkPoints.h>
#include <vtkLine.h>
@@ -70,7 +71,7 @@ VTKLineMeshRenderDelegate::VTKLineMeshRenderDelegate(std::shared_ptr<VisualModel
lines->SetLines(lineIndices);
// Add colors
- if (geometry->getVertexColors().size() == geometry->getNumVertices())
+ /*if (geometry->getVertexColors().size() == geometry->getNumVertices())
{
auto colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
@@ -85,7 +86,7 @@ VTKLineMeshRenderDelegate::VTKLineMeshRenderDelegate(std::shared_ptr<VisualModel
}
lines->GetPointData()->SetScalars(colors);
- }
+ }*/
// Create connection source
auto source = vtkSmartPointer<vtkTrivialProducer>::New();
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.cpp
index 7948cfa712f787043f57f385ee9e81d0e6326740..285453616362c8b3ca185f7ab364b46c43821214 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.cpp
@@ -119,28 +119,25 @@ VTKRenderDelegate::makeDelegate(std::shared_ptr<VisualModel> visualModel)
}
std::shared_ptr<imstk::VTKRenderDelegate>
-VTKRenderDelegate::makeDebugDelegate(std::shared_ptr<DebugRenderGeometry> geom)
+VTKRenderDelegate::makeDebugDelegate(std::shared_ptr<VisualModel> dbgVizModel)
{
- switch (geom->getType())
+ switch (dbgVizModel->getDebugGeometry()->getType())
{
case DebugRenderGeometry::Type::Points:
{
- auto points = std::dynamic_pointer_cast<DebugRenderPoints>(geom);
- return std::make_shared<VTKdbgPointsRenderDelegate>(points);
+ return std::make_shared<VTKdbgPointsRenderDelegate>(dbgVizModel);
}
case DebugRenderGeometry::Type::Lines:
{
- auto lines = std::dynamic_pointer_cast<DebugRenderLines>(geom);
- return std::make_shared<VTKdbgLinesRenderDelegate>(lines);
+ return std::make_shared<VTKdbgLinesRenderDelegate>(dbgVizModel);
}
case DebugRenderGeometry::Type::Triangles:
{
- auto triangles = std::dynamic_pointer_cast<DebugRenderTriangles>(geom);
- return std::make_shared<VTKdbgTrianglesRenderDelegate>(triangles);
+ return std::make_shared<VTKdbgTrianglesRenderDelegate>(dbgVizModel);
}
default:
{
- LOG(WARNING) << "RenderDelegate::makeDelegate error: Geometry type incorrect.";
+ LOG(WARNING) << "RenderDelegate::makeDebugDelegate error: Geometry type incorrect.";
return nullptr;
}
}
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.h b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.h
index 4fed20cc4014ee08f535afa542eaa5e79b3d3fca..0b1eab5373dfba373cd57f1f69b159277b519bde 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.h
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKRenderDelegate.h
@@ -57,7 +57,7 @@ public:
///
/// \brief Instantiate proper debug render delegate
///
- static std::shared_ptr<VTKRenderDelegate> makeDebugDelegate(std::shared_ptr<DebugRenderGeometry> geom);
+ static std::shared_ptr<VTKRenderDelegate> makeDebugDelegate(std::shared_ptr<VisualModel> dbgVizModel);
///
/// \brief Set up normals and mapper
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.cpp
index 4053ff133fd2f7694289b7a1fd8ea9e625932a91..65ac63822f79cc71c26c8a5d12be49ebc4eec667 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.cpp
@@ -36,10 +36,14 @@
namespace imstk
{
-VTKdbgLinesRenderDelegate::VTKdbgLinesRenderDelegate(const std::shared_ptr<DebugRenderLines>& lineData) :
- m_RenderGeoData(lineData),
+VTKdbgLinesRenderDelegate::VTKdbgLinesRenderDelegate(std::shared_ptr<VisualModel> visualModel) :
m_mappedVertexArray(vtkSmartPointer<vtkDoubleArray>::New())
{
+ m_visualModel = visualModel;
+
+ // assert that the visual model has debug lines
+ //auto dbgLines = std::static_pointer_cast<DebugRenderLines>(m_visualModel->getGeometry());
+
// Map vertices
m_mappedVertexArray->SetNumberOfComponents(3);
@@ -61,7 +65,7 @@ VTKdbgLinesRenderDelegate::VTKdbgLinesRenderDelegate(const std::shared_ptr<Debug
// Update Transform, Render Properties
updateActorProperties();
- setUpMapper(source->GetOutputPort(), false, m_RenderGeoData->getRenderMaterial());
+ setUpMapper(source->GetOutputPort(), false, visualModel->getRenderMaterial());
//updateDataSource();
}
@@ -69,17 +73,18 @@ VTKdbgLinesRenderDelegate::VTKdbgLinesRenderDelegate(const std::shared_ptr<Debug
void
VTKdbgLinesRenderDelegate::updateDataSource()
{
- if (m_RenderGeoData->isModified())
+ auto dbgLines = std::static_pointer_cast<DebugRenderLines>(m_visualModel->getDebugGeometry());
+
+ if (dbgLines->isModified())
{
- m_RenderGeoData->setDataModified(false);
- m_mappedVertexArray->SetArray(m_RenderGeoData->getVertexBufferPtr(),
- m_RenderGeoData->getNumVertices() * 3, 1);
+ dbgLines->setDataModified(false);
+ m_mappedVertexArray->SetArray(dbgLines->getVertexBufferPtr(), dbgLines->getNumVertices() * 3, 1);
- m_points->SetNumberOfPoints(m_RenderGeoData->getNumVertices());
+ m_points->SetNumberOfPoints(dbgLines->getNumVertices());
// Set line data
int numCurrentLines = m_cellArray->GetNumberOfCells();
- if (numCurrentLines > static_cast<int>(m_RenderGeoData->getNumVertices() / 2))
+ if (numCurrentLines > static_cast<int>(dbgLines->getNumVertices() / 2))
{
// There should is a better way to modify the existing data,
// instead of discarding everything and add from the beginning
@@ -88,7 +93,7 @@ VTKdbgLinesRenderDelegate::updateDataSource()
}
vtkIdType cell[2];
- for (int i = numCurrentLines; i < static_cast<int>(m_RenderGeoData->getNumVertices() / 2); ++i)
+ for (int i = numCurrentLines; i < static_cast<int>(dbgLines->getNumVertices() / 2); ++i)
{
cell[0] = 2 * i;
cell[1] = cell[0] + 1;
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.h b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.h
index 2724a83fd7cc15ccd745ef527600f7e64d25bf50..c4ebeadbd6248576964deff04836508341c8381c 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.h
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugLinesRenderDelegate.h
@@ -41,7 +41,7 @@ public:
///
/// \brief Constructor
///
- explicit VTKdbgLinesRenderDelegate(const std::shared_ptr<DebugRenderLines>& lineData);
+ explicit VTKdbgLinesRenderDelegate(std::shared_ptr<VisualModel> visualModel);
///
/// \brief Update polydata source based on the surface mesh geometry
@@ -50,8 +50,6 @@ public:
protected:
- std::shared_ptr<DebugRenderLines> m_RenderGeoData; ///> Geometry to render
-
// Auxiliary variables for rendering
vtkSmartPointer<vtkDoubleArray> m_mappedVertexArray;
vtkSmartPointer<vtkPoints> m_points;
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.cpp
index 8d9a73b246c871adcfa578ddc7bc271bc85e5df8..70e09511182df807ff6ae0e8772c0ff6c0aee9c8 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.cpp
@@ -38,10 +38,11 @@
namespace imstk
{
-VTKdbgPointsRenderDelegate::VTKdbgPointsRenderDelegate(const std::shared_ptr<DebugRenderPoints>& pointRenderData) :
- m_RenderGeoData(pointRenderData),
+VTKdbgPointsRenderDelegate::VTKdbgPointsRenderDelegate(std::shared_ptr<VisualModel> visualModel) :
m_mappedVertexArray(vtkSmartPointer<vtkDoubleArray>::New())
{
+ m_visualModel = visualModel;
+
// Map vertices
m_mappedVertexArray->SetNumberOfComponents(3);
@@ -60,7 +61,7 @@ VTKdbgPointsRenderDelegate::VTKdbgPointsRenderDelegate(const std::shared_ptr<Deb
// Update Transform, Render Properties
updateActorProperties();
- setUpMapper(m_glyph->GetOutputPort(), false, m_RenderGeoData->getRenderMaterial());
+ setUpMapper(m_glyph->GetOutputPort(), false, visualModel->getRenderMaterial());
//updateDataSource();
}
@@ -68,16 +69,18 @@ VTKdbgPointsRenderDelegate::VTKdbgPointsRenderDelegate(const std::shared_ptr<Deb
void
VTKdbgPointsRenderDelegate::updateDataSource()
{
- if (m_RenderGeoData->isModified())
+ auto dbgPoints = std::static_pointer_cast<DebugRenderPoints>(m_visualModel->getDebugGeometry());
+
+ if (dbgPoints->isModified())
{
- m_RenderGeoData->setDataModified(false);
- m_mappedVertexArray->SetArray(m_RenderGeoData->getVertexBufferPtr(),
- m_RenderGeoData->getNumVertices() * 3, 1);
+ dbgPoints->setDataModified(false);
+ m_mappedVertexArray->SetArray(dbgPoints->getVertexBufferPtr(),
+ dbgPoints->getNumVertices() * 3, 1);
// Update points geometry
// m_Points need to be created from scrach, otherwise program will crash
m_points = vtkSmartPointer<vtkPoints>::New();
- m_points->SetNumberOfPoints(m_RenderGeoData->getNumVertices());
+ m_points->SetNumberOfPoints(dbgPoints->getNumVertices());
m_points->SetData(m_mappedVertexArray);
m_polyData->SetPoints(m_points);
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.h b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.h
index 95925193b47eb5198d1fa4a1b0fce7d5a49f5834..7be631ba8b7f764c69243d8f59e26b4fd95e6748 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.h
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugPointsRenderDelegate.h
@@ -41,7 +41,7 @@ public:
///
/// \brief Constructor
///
- explicit VTKdbgPointsRenderDelegate(const std::shared_ptr<DebugRenderPoints>& pointData);
+ explicit VTKdbgPointsRenderDelegate(std::shared_ptr<VisualModel> visualModel);
///
/// \brief Update polydata source based on the surface mesh geometry
@@ -50,8 +50,6 @@ public:
protected:
- std::shared_ptr<DebugRenderPoints> m_RenderGeoData; ///> Geometry to render
-
// Auxiliary variables for rendering
vtkSmartPointer<vtkDoubleArray> m_mappedVertexArray;
vtkSmartPointer<vtkPoints> m_points;
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.cpp
index 000c2db02b0558621eb071485d33d46c8fce6474..3c119fcb2df6c00c5c4477a86d1f246a2e0f986a 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.cpp
@@ -32,10 +32,11 @@
namespace imstk
{
-VTKdbgTrianglesRenderDelegate::VTKdbgTrianglesRenderDelegate(const std::shared_ptr<DebugRenderTriangles>& renderTriangles) :
- m_RenderGeoData(renderTriangles),
+VTKdbgTrianglesRenderDelegate::VTKdbgTrianglesRenderDelegate(std::shared_ptr<VisualModel> visualModel) :
m_pappedVertexArray(vtkSmartPointer<vtkDoubleArray>::New())
{
+ m_visualModel = visualModel;
+
// Map vertices in memory
m_pappedVertexArray->SetNumberOfComponents(3);
@@ -59,24 +60,26 @@ VTKdbgTrianglesRenderDelegate::VTKdbgTrianglesRenderDelegate(const std::shared_p
//updateDataSource();
//updateActorProperties();
- setUpMapper(source->GetOutputPort(), true, m_RenderGeoData->getRenderMaterial());
+ setUpMapper(source->GetOutputPort(), true, visualModel->getRenderMaterial());
}
void
VTKdbgTrianglesRenderDelegate::updateDataSource()
{
- if (m_RenderGeoData->isModified())
+ auto dbgTriangles = std::static_pointer_cast<DebugRenderTriangles>(m_visualModel->getDebugGeometry());
+
+ if (dbgTriangles->isModified())
{
- m_RenderGeoData->setDataModified(false);
- m_pappedVertexArray->SetArray(m_RenderGeoData->getVertexBufferPtr(),
- m_RenderGeoData->getNumVertices() * 3, 1);
+ dbgTriangles->setDataModified(false);
+ m_pappedVertexArray->SetArray(dbgTriangles->getVertexBufferPtr(),
+ dbgTriangles->getNumVertices() * 3, 1);
// Set point data
- m_points->SetNumberOfPoints(m_RenderGeoData->getNumVertices());
+ m_points->SetNumberOfPoints(dbgTriangles->getNumVertices());
// Set tri data
int numCurrentTriangles = m_cellArray->GetNumberOfCells();
- if (numCurrentTriangles > static_cast<int>(m_RenderGeoData->getNumVertices() / 3))
+ if (numCurrentTriangles > static_cast<int>(dbgTriangles->getNumVertices() / 3))
{
// There should is a better way to modify the existing data,
// instead of discarding everything and add from the beginning
@@ -85,7 +88,7 @@ VTKdbgTrianglesRenderDelegate::updateDataSource()
}
vtkIdType cell[3];
- for (int i = numCurrentTriangles; i < static_cast<int>(m_RenderGeoData->getNumVertices() / 3); ++i)
+ for (int i = numCurrentTriangles; i < static_cast<int>(dbgTriangles->getNumVertices() / 3); ++i)
{
cell[0] = 3 * i;
cell[1] = cell[0] + 1;
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.h b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.h
index 3e856dccdb533df2011854db9f8906df9fcaca14..f9ccf9afa8c288f74c1f34b36021ef78ae8c9d2d 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.h
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.h
@@ -40,7 +40,7 @@ public:
///
/// \brief Constructor
///
- explicit VTKdbgTrianglesRenderDelegate(const std::shared_ptr<DebugRenderTriangles>& renderTriangles);
+ explicit VTKdbgTrianglesRenderDelegate(std::shared_ptr<VisualModel> visualModel);
///
/// \brief Update polydata source based on the surface mesh geometry
@@ -48,7 +48,6 @@ public:
void updateDataSource() override;
protected:
- std::shared_ptr<DebugRenderTriangles> m_RenderGeoData; ///> Geometry to render
// Auxiliary variables for rendering
vtkSmartPointer<vtkDoubleArray> m_pappedVertexArray;
diff --git a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
index a42a33311abc15e16020dcdff5c2646ffb43c2bf..db43746cc558a623c94c020b31b8d96e43d3337d 100644
--- a/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
+++ b/Source/Rendering/VTKRenderer/imstkVTKRenderer.cpp
@@ -408,11 +408,12 @@ VTKRenderer::updateRenderDelegates()
}
// Debug render actors
- for (const auto& geom : m_scene->getDebugRenderObjects())
+ for (const auto& dbgVizModel : m_scene->getDebugRenderModels())
{
- if (geom && !geom->m_renderDelegateCreated)
+ auto geom = std::static_pointer_cast<DebugRenderGeometry>(dbgVizModel->getDebugGeometry());
+ if (dbgVizModel && !dbgVizModel->isRenderDelegateCreated())
{
- auto delegate = VTKRenderDelegate::makeDebugDelegate(geom);
+ auto delegate = VTKRenderDelegate::makeDebugDelegate(dbgVizModel);
if (delegate == nullptr)
{
LOG(WARNING) << "Renderer::Renderer error: Could not create render delegate for '"
@@ -423,7 +424,7 @@ VTKRenderer::updateRenderDelegates()
m_debugRenderDelegates.push_back(delegate);
m_objectVtkActors.push_back(delegate->getVtkActor());
m_vtkRenderer->AddActor(delegate->getVtkActor());
- geom->m_renderDelegateCreated = true;
+ dbgVizModel->m_renderDelegateCreated = true;
}
}
diff --git a/Source/Scene/CMakeLists.txt b/Source/Scene/CMakeLists.txt
index 65ad4d39adf23e366e071b6545bbf4c32133f1df..114253e60cc34d7e2dac0f43841a29db2d0920f5 100644
--- a/Source/Scene/CMakeLists.txt
+++ b/Source/Scene/CMakeLists.txt
@@ -3,18 +3,12 @@
#-----------------------------------------------------------------------------
include(imstkAddLibrary)
imstk_add_library( Scene
- H_FILES
- imstkScene.h
- imstkCollisionGraph.h
- CPP_FILES
- imstkScene.cpp
- imstkCollisionGraph.cpp
DEPENDS
Common
- Collision
- SceneElements
+ CollisionDetection
+ CollisionHandling
+ SceneEntities
Controllers
- DynamicalModels
)
#-----------------------------------------------------------------------------
diff --git a/Source/Collision/CollisionDetection/imstkCollisionDetection.cpp b/Source/Scene/imstkCDObjectFactory.h
similarity index 70%
rename from Source/Collision/CollisionDetection/imstkCollisionDetection.cpp
rename to Source/Scene/imstkCDObjectFactory.h
index ed492025909620e3e8a5b0896dc9c705f333c161..58cd39ec7e5ca13dfea5570a5e78cd16b556ad97 100644
--- a/Source/Collision/CollisionDetection/imstkCollisionDetection.cpp
+++ b/Source/Scene/imstkCDObjectFactory.h
@@ -19,9 +19,12 @@
=========================================================================*/
+#pragma once
+
#include "imstkCollisionDetection.h"
#include "imstkCollisionData.h"
#include "imstkOctreeBasedCD.h"
+#include "imstkCollidingObject.h"
// Points to objects
#include "imstkPointSetToCapsuleCD.h"
@@ -42,7 +45,6 @@
#include "imstkSphereToCylinderCD.h"
#include "imstkSphereToSphereCD.h"
-#include "imstkCollidingObject.h"
#include "imstkPlane.h"
#include "imstkSphere.h"
#include "imstkCylinder.h"
@@ -50,8 +52,6 @@
#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
-#include <g3log/g3log.hpp>
-
#define IMSTK_CHECK_FOR_VALID_GEOMETRIES(obj1, obj2) \
LOG_IF(FATAL, (obj1 == nullptr || obj2 == nullptr)) << \
"CollisionDetection::makeCollisionDetectionObject() error: " << \
@@ -60,30 +60,37 @@
namespace imstk
{
+///
+/// \brief Static factory for collision detection sub classes
+/// If the collision pair is PointSet to SurfaceMesh, or SurfaceMesh to SurfaceMesh,
+/// it will be added to an internal static octree for detecting collision
+/// \todo Other collision pair may be considered to use octree too
+///
+static
std::shared_ptr<CollisionDetection>
-CollisionDetection::makeCollisionDetectionObject(const Type type,
- std::shared_ptr<CollidingObject> objA,
- std::shared_ptr<CollidingObject> objB,
- std::shared_ptr<CollisionData> colData)
+makeCollisionDetectionObject(const CollisionDetection::Type type,
+ std::shared_ptr<CollidingObject> objA,
+ std::shared_ptr<CollidingObject> objB,
+ std::shared_ptr<CollisionData> colData)
{
switch (type)
{
// Points to objects
- case Type::PointSetToSphere:
+ case CollisionDetection::Type::PointSetToSphere:
{
auto pointset = std::dynamic_pointer_cast<PointSet>(objA->getCollidingGeometry());
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(pointset, sphere)
return std::make_shared<PointSetToSphereCD>(pointset, sphere, colData);
}
- case Type::PointSetToPlane:
+ case CollisionDetection::Type::PointSetToPlane:
{
auto pointset = std::dynamic_pointer_cast<PointSet>(objA->getCollidingGeometry());
auto plane = std::dynamic_pointer_cast<Plane>(objB->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(pointset, plane)
return std::make_shared<PointSetToPlaneCD>(pointset, plane, colData);
}
- case Type::PointSetToCapsule:
+ case CollisionDetection::Type::PointSetToCapsule:
{
auto pointset = std::dynamic_pointer_cast<PointSet>(objA->getCollidingGeometry());
auto capsule = std::dynamic_pointer_cast<Capsule>(objB->getCollidingGeometry());
@@ -91,7 +98,7 @@ CollisionDetection::makeCollisionDetectionObject(const Type
return std::make_shared<PointSetToCapsuleCD>(pointset, capsule, colData);
}
#if 0
- case Type::PointSetToSpherePicking:
+ case CollisionDetection::ype::PointSetToSpherePicking:
{
auto pointset = std::dynamic_pointer_cast<PointSet>(objA->getCollidingGeometry());
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
@@ -99,28 +106,28 @@ CollisionDetection::makeCollisionDetectionObject(const Type
return std::make_shared<PointSetToSpherePickingCD>(pointset, sphere, colData);
}
#endif
- case Type::PointSetToSurfaceMesh:
+ case CollisionDetection::Type::PointSetToSurfaceMesh:
{
const auto& geomA = objA->getCollidingGeometry();
const auto& geomB = objB->getCollidingGeometry();
auto pointset = std::dynamic_pointer_cast<PointSet>(geomA);
auto triMesh = std::dynamic_pointer_cast<SurfaceMesh>(geomB);
IMSTK_CHECK_FOR_VALID_GEOMETRIES(pointset, triMesh)
- addCollisionPairToOctree(geomA, geomB, type, colData);
+ CollisionDetection::addCollisionPairToOctree(geomA, geomB, type, colData);
return std::make_shared<PointSetToSurfaceMeshCD>(pointset, triMesh, colData);
}
// Mesh to mesh
- case Type::SurfaceMeshToSurfaceMesh:
+ case CollisionDetection::Type::SurfaceMeshToSurfaceMesh:
{
const auto& geomA = objA->getCollidingGeometry();
const auto& geomB = objB->getCollidingGeometry();
auto meshA = std::dynamic_pointer_cast<SurfaceMesh>(geomA);
auto meshB = std::dynamic_pointer_cast<SurfaceMesh>(geomB);
IMSTK_CHECK_FOR_VALID_GEOMETRIES(meshA, meshB)
- addCollisionPairToOctree(geomA, geomB, type, colData);
+ CollisionDetection::addCollisionPairToOctree(geomA, geomB, type, colData);
return std::make_shared<SurfaceMeshToSurfaceMeshCD>(meshA, meshB, colData);
}
- case Type::SurfaceMeshToSurfaceMeshCCD:
+ case CollisionDetection::Type::SurfaceMeshToSurfaceMeshCCD:
{
auto meshA = std::dynamic_pointer_cast<SurfaceMesh>(objA->getCollidingGeometry());
auto meshB = std::dynamic_pointer_cast<SurfaceMesh>(objB->getCollidingGeometry());
@@ -128,7 +135,7 @@ CollisionDetection::makeCollisionDetectionObject(const Type
return std::make_shared<SurfaceMeshToSurfaceMeshCCD>(meshA, meshB, colData);
}
- case Type::VolumeMeshToVolumeMesh:
+ case CollisionDetection::Type::VolumeMeshToVolumeMesh:
{
auto tet1 = std::dynamic_pointer_cast<TetrahedralMesh>(objA->getCollidingGeometry());
auto tet2 = std::dynamic_pointer_cast<TetrahedralMesh>(objB->getCollidingGeometry());
@@ -137,35 +144,35 @@ CollisionDetection::makeCollisionDetectionObject(const Type
}
// Analytical object to analytical object
- case Type::UnidirectionalPlaneToSphere:
+ case CollisionDetection::Type::UnidirectionalPlaneToSphere:
{
auto plane = std::dynamic_pointer_cast<Plane>(objA->getCollidingGeometry());
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(plane, sphere)
return std::make_shared<UnidirectionalPlaneToSphereCD>(plane, sphere, colData);
}
- case Type::BidirectionalPlaneToSphere:
+ case CollisionDetection::Type::BidirectionalPlaneToSphere:
{
auto plane = std::dynamic_pointer_cast<Plane>(objA->getCollidingGeometry());
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(plane, sphere)
return std::make_shared<BidirectionalPlaneToSphereCD>(plane, sphere, colData);
}
- case Type::SphereToSphere:
+ case CollisionDetection::Type::SphereToSphere:
{
auto sphereA = std::dynamic_pointer_cast<Sphere>(objA->getCollidingGeometry());
auto sphereB = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(sphereA, sphereB)
return std::make_shared<SphereToSphereCD>(sphereA, sphereB, colData);
}
- case Type::SphereToCylinder:
+ case CollisionDetection::Type::SphereToCylinder:
{
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
auto cylinder = std::dynamic_pointer_cast<Cylinder>(objA->getCollidingGeometry());
IMSTK_CHECK_FOR_VALID_GEOMETRIES(sphere, cylinder)
return std::make_shared<SphereToCylinderCD>(sphere, cylinder, colData);
}
- case Type::MeshToMeshBruteForce:
+ case CollisionDetection::Type::MeshToMeshBruteForce:
{
auto meshA = std::dynamic_pointer_cast<SurfaceMesh>(objA->getCollidingGeometry());
auto meshB = std::dynamic_pointer_cast<SurfaceMesh>(objB->getCollidingGeometry());
@@ -174,64 +181,9 @@ CollisionDetection::makeCollisionDetectionObject(const Type
}
default:
{
- LOG(FATAL) << "CollisionDetection::makeCollisionDetectionObject error: type not implemented.";
+ LOG(FATAL) << "makeCollisionDetectionObject error: type not implemented.";
return nullptr;
}
}
}
-
-CollisionDetection::CollisionDetection(const CollisionDetection::Type& type, std::shared_ptr<CollisionData> colData) : m_type(type),
- m_colData((colData == nullptr) ? std::make_shared<CollisionData>() : colData)
-{
-}
-
-// Static functions ==>
-void
-CollisionDetection::addCollisionPairToOctree(const std::shared_ptr<Geometry>& geomA,
- const std::shared_ptr<Geometry>& geomB,
- const Type collisionType,
- const std::shared_ptr<CollisionData>& collisionData)
-{
- auto addToOctree =
- [&](const std::shared_ptr<Geometry>& geom) {
- if (!s_OctreeCD->hasGeometry(geom->getGlobalIndex()))
- {
- if (geom->getType() == Geometry::Type::PointSet)
- {
- s_OctreeCD->addPointSet(std::dynamic_pointer_cast<PointSet>(geom));
- }
- else if (geom->getType() == Geometry::Type::SurfaceMesh)
- {
- s_OctreeCD->addTriangleMesh(std::dynamic_pointer_cast<SurfaceMesh>(geom));
- }
- else
- {
- s_OctreeCD->addAnalyticalGeometry(geom);
- }
- }
- };
-
- addToOctree(geomA);
- addToOctree(geomB);
- s_OctreeCD->addCollisionPair(geomA, geomB, collisionType, collisionData);
-}
-
-void
-CollisionDetection::updateInternalOctreeAndDetectCollision()
-{
- if (s_OctreeCD->getNumCollisionPairs() > 0)
- {
- s_OctreeCD->update();
- s_OctreeCD->detectCollision();
- }
-}
-
-void
-CollisionDetection::clearInternalOctree()
-{
- s_OctreeCD->clear();
-}
-
-// Static octree
-std::shared_ptr<OctreeBasedCD> CollisionDetection::s_OctreeCD = std::make_shared<OctreeBasedCD>(Vec3d(0, 0, 0), 100.0, 0.1, 1);
}
diff --git a/Source/Collision/imstkInteractionPair.cpp b/Source/Scene/imstkInteractionPair.cpp
similarity index 97%
rename from Source/Collision/imstkInteractionPair.cpp
rename to Source/Scene/imstkInteractionPair.cpp
index 17d1542a952d59bbd6448ee1243c13e9d63b7e88..b82844816017604575d2bcd9395569084e136e67 100644
--- a/Source/Collision/imstkInteractionPair.cpp
+++ b/Source/Scene/imstkInteractionPair.cpp
@@ -22,6 +22,7 @@
#include "imstkInteractionPair.h"
#include "imstkCollisionData.h"
#include "imstkCollidingObject.h"
+#include "imstkCDObjectFactory.h"
#include <g3log/g3log.hpp>
@@ -46,7 +47,7 @@ InteractionPair::InteractionPair(std::shared_ptr<CollidingObject> A,
}*/
// Collision Detection
- std::shared_ptr<CollisionDetection> CD = CollisionDetection::makeCollisionDetectionObject(CDType, A, B, m_colData);
+ std::shared_ptr<CollisionDetection> CD = makeCollisionDetectionObject(CDType, A, B, m_colData);
CHECK(CD != nullptr) << "InteractionPair error: can not instantiate collision detection algorithm.";
diff --git a/Source/Collision/imstkInteractionPair.h b/Source/Scene/imstkInteractionPair.h
similarity index 100%
rename from Source/Collision/imstkInteractionPair.h
rename to Source/Scene/imstkInteractionPair.h
diff --git a/Source/Collision/imstkPbdInteractionPair.cpp b/Source/Scene/imstkPbdInteractionPair.cpp
similarity index 99%
rename from Source/Collision/imstkPbdInteractionPair.cpp
rename to Source/Scene/imstkPbdInteractionPair.cpp
index e82b0fbd1c3b8ef5ea9f4ba14babff0e2da88349..ddfa7243d7fb0dc25e1df9273c9ae4756d1981b5 100644
--- a/Source/Collision/imstkPbdInteractionPair.cpp
+++ b/Source/Scene/imstkPbdInteractionPair.cpp
@@ -26,7 +26,7 @@
#include "imstkCollisionUtils.h"
#include "imstkPbdModel.h"
#include "imstkPbdObject.h"
-#include "imstkColor.h"
+//#include "imstkColor.h"
#include "imstkPbdEdgeEdgeCollisionConstraint.h"
#include "imstkPbdPointTriCollisionConstraint.h"
diff --git a/Source/Collision/imstkPbdInteractionPair.h b/Source/Scene/imstkPbdInteractionPair.h
similarity index 100%
rename from Source/Collision/imstkPbdInteractionPair.h
rename to Source/Scene/imstkPbdInteractionPair.h
diff --git a/Source/Scene/imstkScene.cpp b/Source/Scene/imstkScene.cpp
index 2cafd96ba16d14780a8db4af98f3a3da11f8a1d9..4409293f4133b3f07c2a55c074c8771ff5209b0e 100644
--- a/Source/Scene/imstkScene.cpp
+++ b/Source/Scene/imstkScene.cpp
@@ -21,6 +21,7 @@
#include "imstkScene.h"
#include "imstkSceneObject.h"
+#include "imstkVisualModel.h"
#include "imstkCameraController.h"
#include "imstkSceneObjectControllerBase.h"
#include "imstkCameraController.h"
@@ -126,11 +127,9 @@ Scene::getSceneObjects() const
{
std::vector<std::shared_ptr<SceneObject>> v;
- for (auto it = m_sceneObjectsMap.begin();
- it != m_sceneObjectsMap.end();
- ++it)
+ for (auto it : m_sceneObjectsMap)
{
- v.push_back(it->second);
+ v.push_back(it.second);
}
return v;
@@ -152,16 +151,14 @@ Scene::getSceneObject(const std::string& sceneObjectName) const
return m_sceneObjectsMap.at(sceneObjectName);
}
-const std::vector<std::shared_ptr<DebugRenderGeometry>>
-Scene::getDebugRenderObjects() const
+const std::vector<std::shared_ptr<VisualModel>>
+Scene::getDebugRenderModels() const
{
- std::vector<std::shared_ptr<DebugRenderGeometry>> v;
+ std::vector<std::shared_ptr<VisualModel>> v;
- for (auto it = m_DebugRenderGeometryMap.begin();
- it != m_DebugRenderGeometryMap.end();
- ++it)
+ for (auto it : m_DebugRenderModelMap)
{
- v.push_back(it->second);
+ v.push_back(it.second);
}
return v;
@@ -184,19 +181,19 @@ Scene::addSceneObject(std::shared_ptr<SceneObject> newSceneObject)
}
void
-Scene::addDebugGeometry(std::shared_ptr<DebugRenderGeometry> newDebugRenderObject)
+Scene::addDebugVisualModel(std::shared_ptr<VisualModel> dbgRenderModel)
{
- std::string name = newDebugRenderObject->getName();
+ const std::string name = dbgRenderModel->getDebugGeometry()->getName();
- if (m_sceneObjectsMap.find(name) != m_sceneObjectsMap.end())
+ if (m_DebugRenderModelMap.find(name) != m_DebugRenderModelMap.end())
{
- LOG(WARNING) << "Can not add debug render object: '" << name
+ LOG(WARNING) << "Can not add debug render mdoel: '" << name
<< "' is already registered in this scene.";
return;
}
- m_DebugRenderGeometryMap[name] = newDebugRenderObject;
- LOG(INFO) << name << " object added to " << m_name;
+ m_DebugRenderModelMap[name] = dbgRenderModel;
+ LOG(INFO) << name << " debug model added to " << m_name;
}
void
diff --git a/Source/Scene/imstkScene.h b/Source/Scene/imstkScene.h
index d6c998baaddac9d6e38750e600d7ebde8cb1dfaf..b367f41caf415d267c1a56447c4755a104060697 100644
--- a/Source/Scene/imstkScene.h
+++ b/Source/Scene/imstkScene.h
@@ -29,6 +29,7 @@
namespace imstk
{
class SceneObjectControllerBase;
+class VisualModel;
class CameraController;
class DebugRenderGeometry;
class SceneObject;
@@ -124,7 +125,7 @@ public:
/// \brief Return a vector of shared pointers to the scene objects
/// NOTE: A separate list might be efficient as this is called runtime
///
- const std::vector<std::shared_ptr<DebugRenderGeometry>> getDebugRenderObjects() const;
+ const std::vector<std::shared_ptr<VisualModel>> getDebugRenderModels() const;
///
/// \brief Get the scene object controllers
@@ -140,9 +141,13 @@ public:
/// \brief Add/remove a scene object
///
void addSceneObject(std::shared_ptr<SceneObject> newSceneObject);
- void addDebugGeometry(std::shared_ptr<DebugRenderGeometry> newSceneObject);
void removeSceneObject(const std::string& sceneObjectName);
+ ///
+ /// \brief Add a debug visual model object
+ ///
+ void addDebugVisualModel(std::shared_ptr<VisualModel> dbgRenderModel);
+
///
/// \brief
///
@@ -231,9 +236,9 @@ protected:
std::shared_ptr<SceneConfig> m_config;
std::string m_name; ///> Name of the scene
- NamedMap<SceneObject> m_sceneObjectsMap;
- NamedMap<DebugRenderGeometry> m_DebugRenderGeometryMap;
- NamedMap<Light> m_lightsMap;
+ NamedMap<SceneObject> m_sceneObjectsMap;
+ NamedMap<VisualModel> m_DebugRenderModelMap;
+ NamedMap<Light> m_lightsMap;
std::shared_ptr<IBLProbe> m_globalIBLProbe = nullptr;
std::shared_ptr<Camera> m_camera = nullptr;
std::shared_ptr<CollisionGraph> m_collisionGraph = nullptr;
diff --git a/Source/Scene/SceneElements/CMakeLists.txt b/Source/SceneEntities/CMakeLists.txt
similarity index 84%
rename from Source/Scene/SceneElements/CMakeLists.txt
rename to Source/SceneEntities/CMakeLists.txt
index 83181b2d4d1459fda599424b815f4fc102acff94..e17ebff50371bb55c64312c1a7dc53ea298eb6ea 100644
--- a/Source/Scene/SceneElements/CMakeLists.txt
+++ b/Source/SceneEntities/CMakeLists.txt
@@ -2,11 +2,13 @@
# Create target
#-----------------------------------------------------------------------------
include(imstkAddLibrary)
-imstk_add_library( SceneElements
- DEPENDS
+imstk_add_library( SceneEntities
+ DEPENDS
Common
Geometry
- DataStructures
+ GeometryMappers
+ Materials
+ MeshIO
Constraints
Devices
DynamicalModels
diff --git a/Source/Scene/SceneElements/Camera/imstkCamera.cpp b/Source/SceneEntities/Camera/imstkCamera.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Camera/imstkCamera.cpp
rename to Source/SceneEntities/Camera/imstkCamera.cpp
diff --git a/Source/Scene/SceneElements/Camera/imstkCamera.h b/Source/SceneEntities/Camera/imstkCamera.h
similarity index 100%
rename from Source/Scene/SceneElements/Camera/imstkCamera.h
rename to Source/SceneEntities/Camera/imstkCamera.h
diff --git a/Source/Scene/SceneElements/Lights/imstkIBLProbe.cpp b/Source/SceneEntities/Lights/imstkIBLProbe.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Lights/imstkIBLProbe.cpp
rename to Source/SceneEntities/Lights/imstkIBLProbe.cpp
diff --git a/Source/Scene/SceneElements/Lights/imstkIBLProbe.h b/Source/SceneEntities/Lights/imstkIBLProbe.h
similarity index 100%
rename from Source/Scene/SceneElements/Lights/imstkIBLProbe.h
rename to Source/SceneEntities/Lights/imstkIBLProbe.h
diff --git a/Source/Scene/SceneElements/Lights/imstkLight.cpp b/Source/SceneEntities/Lights/imstkLight.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Lights/imstkLight.cpp
rename to Source/SceneEntities/Lights/imstkLight.cpp
diff --git a/Source/Scene/SceneElements/Lights/imstkLight.h b/Source/SceneEntities/Lights/imstkLight.h
similarity index 100%
rename from Source/Scene/SceneElements/Lights/imstkLight.h
rename to Source/SceneEntities/Lights/imstkLight.h
diff --git a/Source/Scene/SceneElements/Loader/imstkVisualObjectImporter.cpp b/Source/SceneEntities/Loader/imstkVisualObjectImporter.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Loader/imstkVisualObjectImporter.cpp
rename to Source/SceneEntities/Loader/imstkVisualObjectImporter.cpp
diff --git a/Source/Scene/SceneElements/Loader/imstkVisualObjectImporter.h b/Source/SceneEntities/Loader/imstkVisualObjectImporter.h
similarity index 100%
rename from Source/Scene/SceneElements/Loader/imstkVisualObjectImporter.h
rename to Source/SceneEntities/Loader/imstkVisualObjectImporter.h
diff --git a/Source/Scene/SceneElements/Objects/deprecated/imstkPbdRigidObject.cpp b/Source/SceneEntities/Objects/deprecated/imstkPbdRigidObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/deprecated/imstkPbdRigidObject.cpp
rename to Source/SceneEntities/Objects/deprecated/imstkPbdRigidObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/deprecated/imstkPbdRigidObject.h b/Source/SceneEntities/Objects/deprecated/imstkPbdRigidObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/deprecated/imstkPbdRigidObject.h
rename to Source/SceneEntities/Objects/deprecated/imstkPbdRigidObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkAnimationModel.cpp b/Source/SceneEntities/Objects/imstkAnimationModel.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkAnimationModel.cpp
rename to Source/SceneEntities/Objects/imstkAnimationModel.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkAnimationModel.h b/Source/SceneEntities/Objects/imstkAnimationModel.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkAnimationModel.h
rename to Source/SceneEntities/Objects/imstkAnimationModel.h
diff --git a/Source/Scene/SceneElements/Objects/imstkAnimationObject.cpp b/Source/SceneEntities/Objects/imstkAnimationObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkAnimationObject.cpp
rename to Source/SceneEntities/Objects/imstkAnimationObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkAnimationObject.h b/Source/SceneEntities/Objects/imstkAnimationObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkAnimationObject.h
rename to Source/SceneEntities/Objects/imstkAnimationObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkCollidingObject.cpp b/Source/SceneEntities/Objects/imstkCollidingObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkCollidingObject.cpp
rename to Source/SceneEntities/Objects/imstkCollidingObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkCollidingObject.h b/Source/SceneEntities/Objects/imstkCollidingObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkCollidingObject.h
rename to Source/SceneEntities/Objects/imstkCollidingObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkDeformableObject.cpp b/Source/SceneEntities/Objects/imstkDeformableObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkDeformableObject.cpp
rename to Source/SceneEntities/Objects/imstkDeformableObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkDeformableObject.h b/Source/SceneEntities/Objects/imstkDeformableObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkDeformableObject.h
rename to Source/SceneEntities/Objects/imstkDeformableObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkDynamicObject.cpp b/Source/SceneEntities/Objects/imstkDynamicObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkDynamicObject.cpp
rename to Source/SceneEntities/Objects/imstkDynamicObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkDynamicObject.h b/Source/SceneEntities/Objects/imstkDynamicObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkDynamicObject.h
rename to Source/SceneEntities/Objects/imstkDynamicObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkKinematicState.cpp b/Source/SceneEntities/Objects/imstkKinematicState.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkKinematicState.cpp
rename to Source/SceneEntities/Objects/imstkKinematicState.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkPbdObject.cpp b/Source/SceneEntities/Objects/imstkPbdObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkPbdObject.cpp
rename to Source/SceneEntities/Objects/imstkPbdObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkPbdObject.h b/Source/SceneEntities/Objects/imstkPbdObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkPbdObject.h
rename to Source/SceneEntities/Objects/imstkPbdObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkRigidObject.cpp b/Source/SceneEntities/Objects/imstkRigidObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkRigidObject.cpp
rename to Source/SceneEntities/Objects/imstkRigidObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkRigidObject.h b/Source/SceneEntities/Objects/imstkRigidObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkRigidObject.h
rename to Source/SceneEntities/Objects/imstkRigidObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkSPHObject.cpp b/Source/SceneEntities/Objects/imstkSPHObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkSPHObject.cpp
rename to Source/SceneEntities/Objects/imstkSPHObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkSPHObject.h b/Source/SceneEntities/Objects/imstkSPHObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkSPHObject.h
rename to Source/SceneEntities/Objects/imstkSPHObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkSceneObject.cpp b/Source/SceneEntities/Objects/imstkSceneObject.cpp
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkSceneObject.cpp
rename to Source/SceneEntities/Objects/imstkSceneObject.cpp
diff --git a/Source/Scene/SceneElements/Objects/imstkSceneObject.h b/Source/SceneEntities/Objects/imstkSceneObject.h
similarity index 100%
rename from Source/Scene/SceneElements/Objects/imstkSceneObject.h
rename to Source/SceneEntities/Objects/imstkSceneObject.h
diff --git a/Source/Scene/SceneElements/Objects/imstkVisualModel.cpp b/Source/SceneEntities/Objects/imstkVisualModel.cpp
similarity index 67%
rename from Source/Scene/SceneElements/Objects/imstkVisualModel.cpp
rename to Source/SceneEntities/Objects/imstkVisualModel.cpp
index 460743e8d1bc1417cdf8e2e66ec159dffcbb8bd9..9ec3c859847206d902339a212c9002ada003887b 100644
--- a/Source/Scene/SceneElements/Objects/imstkVisualModel.cpp
+++ b/Source/SceneEntities/Objects/imstkVisualModel.cpp
@@ -22,6 +22,7 @@
#include "imstkVisualModel.h"
#include "imstkGeometry.h"
#include "imstkRenderMaterial.h"
+#include "imstkDebugRenderGeometry.h"
namespace imstk
{
@@ -29,6 +30,24 @@ VisualModel::VisualModel(std::shared_ptr<Geometry> geometry) : m_geometry(geomet
{
}
+VisualModel::VisualModel(std::shared_ptr<Geometry> geometry,
+ std::shared_ptr<RenderMaterial> renderMaterial) :
+ m_geometry(geometry),
+ m_renderMaterial(renderMaterial)
+{
+}
+
+VisualModel::VisualModel(std::shared_ptr<DebugRenderGeometry> geometry) : m_DbgGeometry(geometry), m_renderMaterial(std::make_shared<RenderMaterial>())
+{
+}
+
+VisualModel::VisualModel(std::shared_ptr<DebugRenderGeometry> geometry,
+ std::shared_ptr<RenderMaterial> renderMaterial) :
+ m_DbgGeometry(geometry),
+ m_renderMaterial(renderMaterial)
+{
+}
+
std::shared_ptr<Geometry>
VisualModel::getGeometry()
{
@@ -41,6 +60,18 @@ VisualModel::setGeometry(std::shared_ptr<Geometry> geometry)
m_geometry = geometry;
}
+std::shared_ptr<DebugRenderGeometry>
+VisualModel::getDebugGeometry()
+{
+ return m_DbgGeometry;
+}
+
+void
+VisualModel::setDebugGeometry(std::shared_ptr<DebugRenderGeometry> dbgGeometry)
+{
+ m_DbgGeometry = dbgGeometry;
+}
+
void
VisualModel::setRenderMaterial(std::shared_ptr<RenderMaterial> renderMaterial)
{
diff --git a/Source/Scene/SceneElements/Objects/imstkVisualModel.h b/Source/SceneEntities/Objects/imstkVisualModel.h
similarity index 72%
rename from Source/Scene/SceneElements/Objects/imstkVisualModel.h
rename to Source/SceneEntities/Objects/imstkVisualModel.h
index 3b14f4824362b4d406e5e10ceeb077e9b1806801..f087e757ddd17f82c0f9d556108b4568805706c9 100644
--- a/Source/Scene/SceneElements/Objects/imstkVisualModel.h
+++ b/Source/SceneEntities/Objects/imstkVisualModel.h
@@ -27,6 +27,7 @@ namespace imstk
{
class Geometry;
class RenderMaterial;
+class DebugRenderGeometry;
///
/// \class VisualModel
///
@@ -39,6 +40,11 @@ public:
/// \brief Constructor
///
explicit VisualModel(std::shared_ptr<Geometry> geometry);
+ explicit VisualModel(std::shared_ptr<Geometry> geometry,
+ std::shared_ptr<RenderMaterial> renderMaterial);
+ explicit VisualModel(std::shared_ptr<DebugRenderGeometry> geometry);
+ explicit VisualModel(std::shared_ptr<DebugRenderGeometry> geometry,
+ std::shared_ptr<RenderMaterial> renderMaterial);
VisualModel() = delete;
@@ -48,6 +54,12 @@ public:
std::shared_ptr<Geometry> getGeometry();
void setGeometry(std::shared_ptr<Geometry> geometry);
+ ///
+ /// \brief Get/set geometry
+ ///
+ std::shared_ptr<DebugRenderGeometry> getDebugGeometry();
+ void setDebugGeometry(std::shared_ptr<DebugRenderGeometry> geometry);
+
///
/// \brief Set/Get render material
///
@@ -67,8 +79,9 @@ protected:
friend class VulkanRenderDelegate;
friend class VTKRenderer;
- std::shared_ptr<Geometry> m_geometry = nullptr;
- std::shared_ptr<RenderMaterial> m_renderMaterial;
+ std::shared_ptr<Geometry> m_geometry = nullptr;
+ std::shared_ptr<DebugRenderGeometry> m_DbgGeometry = nullptr;
+ std::shared_ptr<RenderMaterial> m_renderMaterial;
bool m_isVisible = true; ///< true if mesh is shown, false if mesh is hidden
bool m_renderDelegateCreated = false; ///< true if RenderDelegate has been created
diff --git a/Source/Scene/SceneElements/imstkSceneEntity.cpp b/Source/SceneEntities/imstkSceneEntity.cpp
similarity index 100%
rename from Source/Scene/SceneElements/imstkSceneEntity.cpp
rename to Source/SceneEntities/imstkSceneEntity.cpp
diff --git a/Source/Scene/SceneElements/imstkSceneEntity.h b/Source/SceneEntities/imstkSceneEntity.h
similarity index 100%
rename from Source/Scene/SceneElements/imstkSceneEntity.h
rename to Source/SceneEntities/imstkSceneEntity.h
diff --git a/Source/SimulationManager/CMakeLists.txt b/Source/SimulationManager/CMakeLists.txt
index e48395893cc32ab22d162f028f6abd859a991d5d..446ecf2392c6ae2c918a6c4337904169e7dbf542 100644
--- a/Source/SimulationManager/CMakeLists.txt
+++ b/Source/SimulationManager/CMakeLists.txt
@@ -61,8 +61,8 @@ imstk_add_library( SimulationManager
SUBDIR_LIST
${SIMULATIONMANAGER_SUBDIR}
DEPENDS
+ Scene
Rendering
- Controllers
${Vulkan}
)
diff --git a/Source/SimulationManager/imstkSimulationManager.cpp b/Source/SimulationManager/imstkSimulationManager.cpp
index 03dc71088d5863cab20b5f699565cddc91e33f14..a6b72f5cd23717e526fa4c3bcea612ce09516338 100644
--- a/Source/SimulationManager/imstkSimulationManager.cpp
+++ b/Source/SimulationManager/imstkSimulationManager.cpp
@@ -35,7 +35,7 @@
namespace imstk
{
-SimulationManager::SimulationManager(const std::shared_ptr<simManagerConfig> config) : m_config(config)
+SimulationManager::SimulationManager(const std::shared_ptr<SimManagerConfig> config) : m_config(config)
{
// Initialize the logger and add optional sinks
if (config->enableFileLogging)
diff --git a/Source/SimulationManager/imstkSimulationManager.h b/Source/SimulationManager/imstkSimulationManager.h
index 437681ae027bdd51cd0c78fb1413786fed147959..ba3f080b833bb96ae7ea7f273a272e4bea3c3e89 100644
--- a/Source/SimulationManager/imstkSimulationManager.h
+++ b/Source/SimulationManager/imstkSimulationManager.h
@@ -69,7 +69,7 @@ enum class SimulationMode
///
/// \brief Simulation manager configuration
///
-struct simManagerConfig
+struct SimManagerConfig
{
// logger
bool enableFileLogging = true;
@@ -105,7 +105,7 @@ public:
///
/// \brief Constructor
///
- SimulationManager(const std::shared_ptr<simManagerConfig> config = std::make_shared<simManagerConfig>());
+ SimulationManager(const std::shared_ptr<SimManagerConfig> config = std::make_shared<SimManagerConfig>());
///
/// \brief Default destructor
@@ -335,7 +335,7 @@ private:
bool m_simulationStarted = false;
bool m_initialized = false;
- std::shared_ptr<simManagerConfig> m_config;
+ std::shared_ptr<SimManagerConfig> m_config;
std::mutex m_mutex;
};
diff --git a/Source/Solvers/CMakeLists.txt b/Source/Solvers/CMakeLists.txt
index f089a85cfa58df2993c91adb3a0dcd46fef2769e..14b17c8a3dd2ecff8eb109f6dc8d1c4efdcd8a50 100644
--- a/Source/Solvers/CMakeLists.txt
+++ b/Source/Solvers/CMakeLists.txt
@@ -4,10 +4,8 @@
include(imstkAddLibrary)
imstk_add_library( Solvers
DEPENDS
- Common
- DataStructures
Constraints
- SceneElements
+ SceneEntities
)
#-----------------------------------------------------------------------------