diff --git a/Examples/PBDCutting/PBDCuttingExample.cpp b/Examples/PBDCutting/PBDCuttingExample.cpp
index 92f9430fcfac7e86de39b7efcebcb5554aa36ea3..a5da83d370f39481149cbb142f948f4e0e18356b 100644
--- a/Examples/PBDCutting/PBDCuttingExample.cpp
+++ b/Examples/PBDCutting/PBDCuttingExample.cpp
@@ -48,6 +48,7 @@
// Collisions and Models
#include "imstkPbdModel.h"
+#include "imstkPbdObjectCuttingPair.h"
#include "imstkPbdSolver.h"
#include "imstkRenderMaterial.h"
#include "imstkVisualModel.h"
@@ -201,6 +202,8 @@ main()
scene->addSceneObject(clothObj);
// Add interaction pair for pbd cutting
+ imstkNew<PbdObjectCuttingPair> cuttingPair(clothObj, cutObj);
+
/*
// Device Server
imstkNew<HapticDeviceManager> server;
@@ -251,34 +254,12 @@ main()
}
// Queue keypress to be called after scene thread
- queueConnect<KeyEvent>(viewer->getKeyboardDevice(), EventType::KeyEvent, sceneManager, [&](KeyEvent* e)
+ queueConnect<KeyEvent>(viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress, sceneManager, [&](KeyEvent* e)
{
// When i is pressed replace the PBD cloth with a cut one
if (e->m_key == 'i' && e->m_keyPressType == KEY_PRESS)
{
- // This has a number of issues that make it not physically realistic
- // - Mass is not conservative when interpolated from subdivide
- // - Constraint resting lengths are not correctly reinited
- std::shared_ptr<SurfaceMesh> clothMesh = std::dynamic_pointer_cast<SurfaceMesh>(clothObj->getPhysicsGeometry());
- imstkNew<SurfaceMeshCut> surfCut;
- surfCut->setInputMesh(clothMesh);
- surfCut->setCutGeometry(cutGeom);
- surfCut->update();
- std::shared_ptr<SurfaceMesh> newClothMesh = surfCut->getOutputMesh();
-
- // RenderDelegates cannot visually have entire geometries swapped yet, so even though we could just set the geometry
- // on the model, you would not visually see it. Instead we replace the vertex and index buffers of the existing one
- clothMesh->setInitialVertexPositions(std::make_shared<VecDataArray<double, 3>>(*newClothMesh->getInitialVertexPositions()));
- clothMesh->setVertexPositions(std::make_shared<VecDataArray<double, 3>>(*newClothMesh->getVertexPositions()));
- clothMesh->setTriangleIndices(std::make_shared<VecDataArray<int, 3>>(*newClothMesh->getTriangleIndices()));
- clothMesh->modified();
-
- // Re-initialize states, vertices, masses and constraints on the object
- clothObj->getPbdModel()->initState();
- clothObj->getPbdModel()->removeConstraints(surfCut->getRemoveConstraintVertices());
- clothObj->getPbdModel()->addConstraints(surfCut->getAddConstraintVertices());
- clothObj->getPbdModel()->getSolver()->setInvMasses(clothObj->getPbdModel()->getInvMasses());
- clothObj->getPbdModel()->getSolver()->setPositions(clothObj->getPbdModel()->getCurrentState()->getPositions());
+ cuttingPair->apply();
}
});
diff --git a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
index 53f0744e12c37fcb6bd7ef767d95d17754972fd2..fd14a7c8eb8dd0ea0b1307ff79e05118d3484b93 100644
--- a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
@@ -609,7 +609,7 @@ void
PbdModel::addConstraints(std::shared_ptr<std::unordered_set<size_t>> vertices)
{
// check if constraint type matches the mesh type
- CHECK(m_mesh->getType() == Geometry::Type::SurfaceMesh)
+ CHECK(m_mesh->getTypeName() == "SurfaceMesh")
<< "Add element constraints does not support current mesh type.";
const auto& triMesh = std::static_pointer_cast<SurfaceMesh>(m_mesh);
diff --git a/Source/Scene/CMakeLists.txt b/Source/Scene/CMakeLists.txt
index 114253e60cc34d7e2dac0f43841a29db2d0920f5..5d1a4640b5f69e59067630d2063dab2976020dd0 100644
--- a/Source/Scene/CMakeLists.txt
+++ b/Source/Scene/CMakeLists.txt
@@ -9,6 +9,7 @@ imstk_add_library( Scene
CollisionHandling
SceneEntities
Controllers
+ Filtering
)
#-----------------------------------------------------------------------------
diff --git a/Source/Scene/imstkPbdObjectCuttingPair.cpp b/Source/Scene/imstkPbdObjectCuttingPair.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..62dd5f8431a536886bf3ca2c6a0f498c9f65d566
--- /dev/null
+++ b/Source/Scene/imstkPbdObjectCuttingPair.cpp
@@ -0,0 +1,82 @@
+/*=========================================================================
+
+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 "imstkPbdObjectCuttingPair.h"
+
+#include "imstkAnalyticalGeometry.h"
+#include "imstkCollidingObject.h"
+#include "imstkLogger.h"
+#include "imstkNew.h"
+#include "imstkPbdModel.h"
+#include "imstkPbdObject.h"
+#include "imstkPbdSolver.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkSurfaceMeshCut.h"
+
+namespace imstk
+{
+PbdObjectCuttingPair::PbdObjectCuttingPair(std::shared_ptr<PbdObject> pbdObj, std::shared_ptr<CollidingObject> cutObj) : ObjectInteractionPair(pbdObj, cutObj)
+{
+ // check whether pbd object is a surfacemesh
+ if (std::dynamic_pointer_cast<SurfaceMesh>(pbdObj->getPhysicsGeometry()) == nullptr)
+ {
+ LOG(WARNING) << "PbdObj is not a SurfaceMesh, could not create cutting pair";
+ return;
+ }
+
+ // check whether cut object is valid
+ if (std::dynamic_pointer_cast<SurfaceMesh>(cutObj->getCollidingGeometry()) == nullptr
+ && std::dynamic_pointer_cast<AnalyticalGeometry>(cutObj->getCollidingGeometry()) == nullptr)
+ {
+ LOG(WARNING) << "CutObj is neither a SurfaceMesh nor an AnalyticalGeometry, could not create cutting pair";
+ return;
+ }
+}
+
+void
+PbdObjectCuttingPair::apply()
+{
+ auto pbdObj = std::static_pointer_cast<PbdObject>(m_objects.first);
+ auto cutObj = std::static_pointer_cast<CollidingObject>(m_objects.second);
+ auto pbdMesh = std::static_pointer_cast<SurfaceMesh>(pbdObj->getPhysicsGeometry());
+ auto pbdModel = pbdObj->getPbdModel();
+
+ // perform cutting
+ imstkNew<SurfaceMeshCut> surfCut;
+ surfCut->setInputMesh(pbdMesh);
+ surfCut->setCutGeometry(cutObj->getCollidingGeometry());
+ surfCut->update();
+ auto newPbdMesh = surfCut->getOutputMesh();
+
+ // update pbd mesh
+ pbdMesh->setInitialVertexPositions(std::make_shared<VecDataArray<double, 3>>(*newPbdMesh->getInitialVertexPositions()));
+ pbdMesh->setVertexPositions(std::make_shared<VecDataArray<double, 3>>(*newPbdMesh->getVertexPositions()));
+ pbdMesh->setTriangleIndices(std::make_shared<VecDataArray<int, 3>>(*newPbdMesh->getTriangleIndices()));
+ pbdMesh->modified();
+
+ // update pbd states, constraints and solver
+ pbdModel->initState();
+ pbdModel->removeConstraints(surfCut->getRemoveConstraintVertices());
+ pbdModel->addConstraints(surfCut->getAddConstraintVertices());
+ pbdModel->getSolver()->setInvMasses(pbdModel->getInvMasses());
+ pbdModel->getSolver()->setPositions(pbdModel->getCurrentState()->getPositions());
+}
+}
\ No newline at end of file
diff --git a/Source/Scene/imstkPbdObjectCuttingPair.h b/Source/Scene/imstkPbdObjectCuttingPair.h
new file mode 100644
index 0000000000000000000000000000000000000000..7fe35f62f394dad7f4e43ec88b0dfce744bed46f
--- /dev/null
+++ b/Source/Scene/imstkPbdObjectCuttingPair.h
@@ -0,0 +1,46 @@
+/*=========================================================================
+
+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.
+
+=========================================================================*/
+
+#pragma once
+
+#include "imstkObjectInteractionPair.h"
+
+namespace imstk
+{
+class PbdObject;
+class CollidingObject;
+
+///
+/// \class PbdObjectCuttingPair
+///
+/// \brief This class defines a cutting pair between a PbdObject and a CollidingObject
+///
+class PbdObjectCuttingPair : public ObjectInteractionPair
+{
+public:
+ PbdObjectCuttingPair(std::shared_ptr<PbdObject> pbdObj, std::shared_ptr<CollidingObject> cutObj);
+ virtual ~PbdObjectCuttingPair() override = default;
+
+ void apply();
+
+protected:
+};
+}
\ No newline at end of file