diff --git a/Source/CollisionDetection/VisualTesting/imstkBoxVsBoxSurfaceMeshTest.cpp b/Source/CollisionDetection/VisualTesting/imstkBoxVsBoxSurfaceMeshTest.cpp
index e0eb12a537158e9d61114ab8223720146784efce..62525cccad3aee2114b7c84dc54891d6306ac265 100644
--- a/Source/CollisionDetection/VisualTesting/imstkBoxVsBoxSurfaceMeshTest.cpp
+++ b/Source/CollisionDetection/VisualTesting/imstkBoxVsBoxSurfaceMeshTest.cpp
@@ -20,19 +20,11 @@
=========================================================================*/
#include "imstkCamera.h"
-#include "imstkCollidingObject.h"
-#include "imstkCollisionDataDebugObject.h"
+#include "imstkCollisionDetectionVisualTest.h"
#include "imstkGeometryUtilities.h"
-#include "imstkKeyboardDeviceClient.h"
#include "imstkMeshToMeshBruteForceCD.h"
#include "imstkOrientedBox.h"
-#include "imstkRenderMaterial.h"
-#include "imstkScene.h"
-#include "imstkSimulationManager.h"
#include "imstkSurfaceMesh.h"
-#include "imstkVisualModel.h"
-#include "imstkVisualTestingUtils.h"
-#include "imstkVTKViewer.h"
using namespace imstk;
@@ -40,114 +32,33 @@ using namespace imstk;
/// \brief This test is used to investigate Triangle Vs Triangle collision
/// of the MeshToMeshBruteForceCD method.
/// It displays the collision data, and allows users to investigate various cases
-/// by moving the geometry around with keyboard controls i,j,k,l,o,u
///
-TEST_F(VisualTestManager, BoxVsBoxSurfaceMesh)
+TEST_F(CollisionDetectionVisualTest, BoxVsBoxSurfaceMesh)
{
+ m_camera = std::make_shared<Camera>();
+ m_camera->setFocalPoint(-0.0366287, 0.420204, 0.474284);
+ m_camera->setPosition(-2.60143, 1.23713, 2.42823);
+ m_camera->setViewUp(0.216266, 0.968787, -0.121162);
+
// Create a box mesh
auto box1 = std::make_shared<OrientedBox>(
Vec3d::Zero(), Vec3d(0.5, 0.5, 0.5), Quatd::Identity());
auto box2 = std::make_shared<OrientedBox>(
Vec3d::Zero(), Vec3d(0.4, 0.4, 0.4), Quatd::Identity());
- std::shared_ptr<SurfaceMesh> box1Mesh = GeometryUtils::toSurfaceMesh(box1);
- std::shared_ptr<SurfaceMesh> box2Mesh = GeometryUtils::toSurfaceMesh(box2);
- box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), PI_2 * 0.5);
- box2Mesh->rotate(Vec3d(1.0, 0.0, 0.0), PI_2 * 0.5);
- box2Mesh->translate(Vec3d(0.0, 0.8, 0.8));
-
- // Setup the scene
- m_scene = std::make_shared<Scene>("BoxBoxMeshTest");
- m_scene->getActiveCamera()->setPosition(0.073, 1.743, 3.679);
- m_scene->getActiveCamera()->setFocalPoint(0.333, 0.333, 0.25);
- m_scene->getActiveCamera()->setViewUp(0.041, 0.928, -0.371);
-
- auto obj1 = std::make_shared<CollidingObject>("obj1");
- obj1->setVisualGeometry(box1Mesh);
- obj1->setCollidingGeometry(box1Mesh);
- obj1->getVisualModel(0)->getRenderMaterial()->setOpacity(0.5);
- obj1->getVisualModel(0)->getRenderMaterial()->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- m_scene->addSceneObject(obj1);
-
- auto obj2 = std::make_shared<CollidingObject>("obj2");
- obj2->setVisualGeometry(box2Mesh);
- obj2->setCollidingGeometry(box2Mesh);
- obj2->getVisualModel(0)->getRenderMaterial()->setOpacity(0.5);
- obj2->getVisualModel(0)->getRenderMaterial()->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- m_scene->addSceneObject(obj2);
+ m_cdGeom1 = GeometryUtils::toSurfaceMesh(box1);
+ m_cdGeom2 = GeometryUtils::toSurfaceMesh(box2);
+ m_cdGeom2->rotate(Vec3d(0.0, 0.0, 1.0), PI_2 * 0.5);
+ m_cdGeom2->rotate(Vec3d(1.0, 0.0, 0.0), PI_2 * 0.5);
+ m_cdGeom2->translate(Vec3d(0.0, 0.8, 0.8));
auto cd = std::make_shared<MeshToMeshBruteForceCD>();
- cd->setInputGeometryA(box1Mesh);
- cd->setInputGeometryB(box2Mesh);
+ cd->setInputGeometryA(m_cdGeom1);
+ cd->setInputGeometryB(m_cdGeom2);
cd->setGenerateEdgeEdgeContacts(true);
cd->update();
+ m_collisionMethod = cd;
- // Debug Collision Geometry
- auto cdDebugObj = std::make_shared<CollisionDataDebugObject>();
- cdDebugObj->setInputCD(cd->getCollisionData());
- cdDebugObj->setPrintContacts(true);
- m_scene->addSceneObject(cdDebugObj);
-
- std::cout << "================================================\n";
- std::cout << "Key i/j/k/u/o move the cube\n";
- std::cout << "Key 1/2/3/4 rotate the cube\n";
- std::cout << "================================================\n\n";
-
- connect<KeyEvent>(m_viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress,
- [&](KeyEvent* e)
- {
- const double s = 0.05;
- if (e->m_key == 'i')
- {
- box2Mesh->translate(Vec3d(0.0, 0.0, 1.0) * s);
- }
- else if (e->m_key == 'k')
- {
- box2Mesh->translate(Vec3d(0.0, 0.0, -1.0) * s);
- }
- else if (e->m_key == 'j')
- {
- box2Mesh->translate(Vec3d(-1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'l')
- {
- box2Mesh->translate(Vec3d(1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'u')
- {
- box2Mesh->translate(Vec3d(0.0, -1.0, 0.0) * s);
- }
- else if (e->m_key == 'o')
- {
- box2Mesh->translate(Vec3d(0.0, 1.0, 0.0) * s);
- }
- else if (e->m_key == '1')
- {
- box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), 0.1);
- }
- else if (e->m_key == '2')
- {
- box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), -0.1);
- }
- else if (e->m_key == '3')
- {
- box2Mesh->rotate(Vec3d(0.0, 1.0, 0.0), 0.1);
- }
- else if (e->m_key == '4')
- {
- box2Mesh->rotate(Vec3d(0.0, 1.0, 0.0), -0.1);
- }
- // Immediately update the geometry, recompute the CD, update CD debug geometry
- box2Mesh->postModified();
- box2Mesh->updatePostTransformData();
- cd->update();
- cdDebugObj->debugUpdate();
- });
- connect<Event>(m_driver, &SimulationManager::starting,
- [&](Event*)
- {
- cdDebugObj->debugUpdate();
- });
-
+ createScene();
runFor(2.0);
}
\ No newline at end of file
diff --git a/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.cpp b/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e900836e27166177d3ba82fc9b3031f8b7418523
--- /dev/null
+++ b/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.cpp
@@ -0,0 +1,184 @@
+/*=========================================================================
+
+ 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 "imstkCollisionDetectionVisualTest.h"
+#include "imstkCamera.h"
+#include "imstkCollidingObject.h"
+#include "imstkCollisionDataDebugObject.h"
+#include "imstkCollisionDetectionAlgorithm.h"
+#include "imstkDirectionalLight.h"
+#include "imstkGeometry.h"
+#include "imstkKeyboardDeviceClient.h"
+#include "imstkRenderMaterial.h"
+#include "imstkScene.h"
+#include "imstkSimulationManager.h"
+#include "imstkVisualModel.h"
+#include "imstkVTKViewer.h"
+
+using namespace imstk;
+
+void
+CollisionDetectionVisualTest::SetUp()
+{
+ VisualTest::SetUp();
+
+ auto defaultMaterial = std::make_shared<RenderMaterial>();
+ defaultMaterial->setOpacity(0.5);
+ defaultMaterial->setBackFaceCulling(false);
+ defaultMaterial->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+
+ m_cdObj1 = std::make_shared<CollidingObject>("cdObj1");
+ auto model1 = std::make_shared<VisualModel>();
+ model1->setRenderMaterial(defaultMaterial);
+ m_cdObj1->addVisualModel(model1);
+
+ m_cdObj2 = std::make_shared<CollidingObject>("cdObj2");
+ auto model2 = std::make_shared<VisualModel>();
+ model2->setRenderMaterial(defaultMaterial);
+ m_cdObj2->addVisualModel(model2);
+}
+
+void
+CollisionDetectionVisualTest::createScene()
+{
+ // Setup the scene
+ m_scene = std::make_shared<Scene>(::testing::UnitTest::GetInstance()->current_test_info()->name());
+ if (m_camera != nullptr)
+ {
+ *m_scene->getActiveCamera() = *m_camera;
+ }
+
+ ASSERT_NE(m_cdGeom1, nullptr) <<
+ "Missing a m_cdGeom1 Geometry for CollisionDetectionVisualTest";
+ ASSERT_NE(m_cdObj1, nullptr) <<
+ "Missing a m_cdObj1 CollidingObject for CollisionDetectionVisualTest";
+ m_cdObj1->getVisualModel(0)->setGeometry(m_cdGeom1);
+ m_cdObj1->setCollidingGeometry(m_cdGeom1);
+ m_scene->addSceneObject(m_cdObj1);
+
+ ASSERT_NE(m_cdGeom2, nullptr) <<
+ "Missing a m_cdGeom2 Geometry for CollisionDetectionVisualTest";
+ ASSERT_NE(m_cdObj2, nullptr) <<
+ "Missing a m_cdObj2 CollidingObject for CollisionDetectionVisualTest";
+ m_cdObj2->getVisualModel(0)->setGeometry(m_cdGeom2);
+ m_cdObj2->setCollidingGeometry(m_cdGeom2);
+ m_scene->addSceneObject(m_cdObj2);
+
+ ASSERT_NE(m_collisionMethod, nullptr) <<
+ "Missing a m_collisionMethod CollisionDetectionAlgorithm for CollisionDetectionVisualTest";
+
+ // Debug geometry to visualize collision data
+ m_cdDebugObject = std::make_shared<CollisionDataDebugObject>();
+ m_cdDebugObject->setInputCD(m_collisionMethod->getCollisionData());
+ m_cdDebugObject->setPrintContacts(m_printContacts);
+ m_scene->addSceneObject(m_cdDebugObject);
+
+ connect<KeyEvent>(m_viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress,
+ [this](KeyEvent* e)
+ {
+ bool moved = false;
+ // Transform & immediately update post transform geometry
+ if (m_geom1Moveable && moveGeometryByKey(e->m_key, m_cdGeom1))
+ {
+ moved = true;
+ }
+ if (m_geom2Moveable && moveGeometryByKey(e->m_key, m_cdGeom2))
+ {
+ moved = true;
+ }
+ if (moved)
+ {
+ // Recompute the CD & update debug CD object
+ m_collisionMethod->update();
+ m_cdDebugObject->debugUpdate();
+ }
+ });
+ connect<Event>(m_driver, &SimulationManager::starting,
+ [&](Event*)
+ {
+ m_cdDebugObject->debugUpdate();
+ });
+
+ // Light
+ auto light = std::make_shared<DirectionalLight>();
+ light->setFocalPoint(Vec3d(5.0, -8.0, -5.0));
+ light->setIntensity(1.0);
+ m_scene->addLight("Light", light);
+}
+
+bool
+CollisionDetectionVisualTest::moveGeometryByKey(const unsigned char key,
+ std::shared_ptr<Geometry> geom)
+{
+ const Mat4d initTransform = geom->getTransform();
+ const double s = 0.05;
+ if (key == 'i')
+ {
+ geom->translate(Vec3d(0.0, 0.0, 1.0) * s);
+ }
+ else if (key == 'k')
+ {
+ geom->translate(Vec3d(0.0, 0.0, -1.0) * s);
+ }
+ else if (key == 'j')
+ {
+ geom->translate(Vec3d(-1.0, 0.0, 0.0) * s);
+ }
+ else if (key == 'l')
+ {
+ geom->translate(Vec3d(1.0, 0.0, 0.0) * s);
+ }
+ else if (key == 'u')
+ {
+ geom->translate(Vec3d(0.0, -1.0, 0.0) * s);
+ }
+ else if (key == 'o')
+ {
+ geom->translate(Vec3d(0.0, 1.0, 0.0) * s);
+ }
+ else if (key == '1')
+ {
+ geom->rotate(Vec3d(0.0, 0.0, 1.0), 0.1);
+ }
+ else if (key == '2')
+ {
+ geom->rotate(Vec3d(0.0, 0.0, 1.0), -0.1);
+ }
+ else if (key == '3')
+ {
+ geom->rotate(Vec3d(0.0, 1.0, 0.0), 0.1);
+ }
+ else if (key == '4')
+ {
+ geom->rotate(Vec3d(0.0, 1.0, 0.0), -0.1);
+ }
+
+ if (initTransform != geom->getTransform())
+ {
+ geom->postModified();
+ geom->updatePostTransformData();
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
\ No newline at end of file
diff --git a/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.h b/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.h
new file mode 100644
index 0000000000000000000000000000000000000000..75006694c64c5d738b02d5bdd799870d23c3ce19
--- /dev/null
+++ b/Source/CollisionDetection/VisualTesting/imstkCollisionDetectionVisualTest.h
@@ -0,0 +1,75 @@
+/*=========================================================================
+
+ 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 "imstkVisualTestingUtils.h"
+
+namespace imstk
+{
+class Camera;
+class CollisionDataDebugObject;
+class CollisionDetectionAlgorithm;
+class CollidingObject;
+class Geometry;
+class KeyEvent;
+} // namespace imstk
+
+using namespace imstk;
+
+///
+/// \class CollisionDetectionVisualTest
+///
+/// \brief Test that involves two collision geometries and a collision method
+///
+class CollisionDetectionVisualTest : public VisualTest
+{
+public:
+ void SetUp() override;
+
+ ///
+ /// \brief Create a scene composed of two collision objects with
+ /// the respective collision geometries and method
+ ///
+ void createScene();
+
+ ///
+ /// \brief Adds the default scheme for key controls
+ /// \param Key code
+ /// \param Geometry to move
+ /// \return Whether or not geom was moved
+ ///
+ bool moveGeometryByKey(const unsigned char key,
+ std::shared_ptr<Geometry> geom);
+
+public:
+ std::shared_ptr<CollidingObject> m_cdObj2 = nullptr;
+ std::shared_ptr<CollidingObject> m_cdObj1 = nullptr;
+ std::shared_ptr<Geometry> m_cdGeom1 = nullptr;
+ std::shared_ptr<Geometry> m_cdGeom2 = nullptr;
+
+ std::shared_ptr<Camera> m_camera = nullptr;
+
+ std::shared_ptr<CollisionDetectionAlgorithm> m_collisionMethod = nullptr;
+ std::shared_ptr<CollisionDataDebugObject> m_cdDebugObject = nullptr;
+
+ bool m_geom1Moveable = false;
+ bool m_geom2Moveable = true;
+ bool m_printContacts = false;
+};
\ No newline at end of file
diff --git a/Source/CollisionDetection/VisualTesting/imstkImplicitGeometryVsSurfaceMeshTest.cpp b/Source/CollisionDetection/VisualTesting/imstkImplicitGeometryVsSurfaceMeshTest.cpp
index f54a83df0b2b5eb4767c18f876b563169b839977..d31fbdd034039014f0d5b4f0f2b9ec6ee77ded99 100644
--- a/Source/CollisionDetection/VisualTesting/imstkImplicitGeometryVsSurfaceMeshTest.cpp
+++ b/Source/CollisionDetection/VisualTesting/imstkImplicitGeometryVsSurfaceMeshTest.cpp
@@ -20,21 +20,11 @@
=========================================================================*/
#include "imstkCamera.h"
-#include "imstkCollidingObject.h"
-#include "imstkCollisionDataDebugObject.h"
-#include "imstkDirectionalLight.h"
-#include "imstkImplicitGeometry.h"
+#include "imstkCollisionDetectionVisualTest.h"
#include "imstkImplicitGeometryToPointSetCD.h"
-#include "imstkKeyboardDeviceClient.h"
#include "imstkPlane.h"
-#include "imstkRenderMaterial.h"
-#include "imstkScene.h"
-#include "imstkSimulationManager.h"
#include "imstkSurfaceMesh.h"
#include "imstkVecDataArray.h"
-#include "imstkVisualModel.h"
-#include "imstkVisualTestingUtils.h"
-#include "imstkVTKViewer.h"
using namespace imstk;
@@ -42,102 +32,39 @@ using namespace imstk;
/// \brief This test is used to investigate ImplicitGeometry Vs SurfaceMesh collision
/// of the ImplicitGeometryToPointSet method.
/// It displays the collision data, and allows users to investigate various cases
-/// by moving the geometry around with keyboard controls i,j,k,l,o,u
///
-TEST_F(VisualTestManager, ImplicitGeometryVsSurfaceMesh)
+TEST_F(CollisionDetectionVisualTest, ImplicitGeometryVsSurfaceMesh)
{
- // Setup the scene
- m_scene = std::make_shared<Scene>("ImplicitGeometryVsSurfaceMesh");
- m_scene->getActiveCamera()->setPosition(0.18, 1.08, 1.34);
- m_scene->getActiveCamera()->setFocalPoint(0.0, 0.0, 0.0);
- m_scene->getActiveCamera()->setViewUp(0.011, 0.78, -0.63);
+ m_camera = std::make_shared<Camera>();
+ m_camera->setPosition(0.18, 1.08, 1.34);
+ m_camera->setFocalPoint(0.0, 0.0, 0.0);
+ m_camera->setViewUp(0.011, 0.78, -0.63);
- auto obj1 = std::make_shared<CollidingObject>("obj1");
- auto triangleMesh1 = std::make_shared<SurfaceMesh>();
- VecDataArray<double, 3> triangleVertices1(3);
- triangleVertices1[0] = Vec3d(0.1, -0.5, 0.0);
- triangleVertices1[1] = Vec3d(0.1, 0.5, 0.0);
- triangleVertices1[2] = Vec3d(-0.5, 0.0, 0.0);
- VecDataArray<int, 3> triangleIndices1(1);
- triangleIndices1[0] = Vec3i(0, 1, 2);
- triangleMesh1->initialize(
- std::make_shared<VecDataArray<double, 3>>(triangleVertices1),
- std::make_shared<VecDataArray<int, 3>>(triangleIndices1));
- obj1->setVisualGeometry(triangleMesh1);
- obj1->setCollidingGeometry(triangleMesh1);
- obj1->getVisualModel(0)->getRenderMaterial()->setBackFaceCulling(false);
- m_scene->addSceneObject(obj1);
-
- auto obj2 = std::make_shared<CollidingObject>("obj2");
auto implicitGeom = std::make_shared<Plane>();
implicitGeom->setNormal(0.0, 1.0, 0.0);
implicitGeom->setPosition(0.0, 0.0, 0.0);
implicitGeom->setWidth(0.5);
- obj2->setVisualGeometry(implicitGeom);
- obj2->setCollidingGeometry(implicitGeom);
- obj2->getVisualModel(0)->getRenderMaterial()->setBackFaceCulling(false);
- m_scene->addSceneObject(obj2);
+ m_cdGeom1 = implicitGeom;
+
+ auto triangleMesh = std::make_shared<SurfaceMesh>();
+ VecDataArray<double, 3> triangleVertices(3);
+ triangleVertices[0] = Vec3d(0.1, -0.5, 0.0);
+ triangleVertices[1] = Vec3d(0.1, 0.5, 0.0);
+ triangleVertices[2] = Vec3d(-0.5, 0.0, 0.0);
+ VecDataArray<int, 3> triangleIndices(1);
+ triangleIndices[0] = Vec3i(0, 1, 2);
+ triangleMesh->initialize(
+ std::make_shared<VecDataArray<double, 3>>(triangleVertices),
+ std::make_shared<VecDataArray<int, 3>>(triangleIndices));
+ m_cdGeom2 = triangleMesh;
auto cd = std::make_shared<ImplicitGeometryToPointSetCD>();
cd->setGenerateCD(true, true);
- cd->setInputGeometryA(triangleMesh1);
+ cd->setInputGeometryA(triangleMesh);
cd->setInputGeometryB(implicitGeom);
cd->update();
+ m_collisionMethod = cd;
- // Debug geometry to visualize collision data
- auto cdDebugObj = std::make_shared<CollisionDataDebugObject>();
- cdDebugObj->setInputCD(cd->getCollisionData());
- cdDebugObj->setPrintContacts(true);
- m_scene->addSceneObject(cdDebugObj);
-
- // Light
- auto light = std::make_shared<DirectionalLight>();
- light->setFocalPoint(Vec3d(5.0, -8.0, -5.0));
- light->setIntensity(1.0);
- m_scene->addLight("Light", light);
-
- std::cout << "================================================\n";
- std::cout << "Key i/j/k/u/o move the triangle\n";
- std::cout << "================================================\n\n";
-
- connect<KeyEvent>(m_viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress,
- [&](KeyEvent* e)
- {
- const double s = 0.05;
- if (e->m_key == 'i')
- {
- triangleMesh1->translate(Vec3d(0.0, 0.0, 1.0) * s);
- }
- else if (e->m_key == 'k')
- {
- triangleMesh1->translate(Vec3d(0.0, 0.0, -1.0) * s);
- }
- else if (e->m_key == 'j')
- {
- triangleMesh1->translate(Vec3d(-1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'l')
- {
- triangleMesh1->translate(Vec3d(1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'u')
- {
- triangleMesh1->translate(Vec3d(0.0, -1.0, 0.0) * s);
- }
- else if (e->m_key == 'o')
- {
- triangleMesh1->translate(Vec3d(0.0, 1.0, 0.0) * s);
- }
- triangleMesh1->postModified();
- triangleMesh1->updatePostTransformData();
- cd->update();
- cdDebugObj->debugUpdate();
- });
- connect<Event>(m_driver, &SimulationManager::starting,
- [&](Event*)
- {
- cdDebugObj->debugUpdate();
- });
-
+ createScene();
runFor(2.0);
}
\ No newline at end of file
diff --git a/Source/CollisionDetection/VisualTesting/imstkTriangleVsSphereTest.cpp b/Source/CollisionDetection/VisualTesting/imstkTriangleVsSphereTest.cpp
index 8cb68c8696b174b65c3185b74772c7ef98b39fed..aa67cdd5ac8a1585deeb81c2fdf2fddbcdb8428f 100644
--- a/Source/CollisionDetection/VisualTesting/imstkTriangleVsSphereTest.cpp
+++ b/Source/CollisionDetection/VisualTesting/imstkTriangleVsSphereTest.cpp
@@ -21,19 +21,13 @@
#include "imstkCamera.h"
#include "imstkCollidingObject.h"
-#include "imstkCollisionDataDebugObject.h"
-#include "imstkDirectionalLight.h"
-#include "imstkKeyboardDeviceClient.h"
+#include "imstkCollisionDetectionVisualTest.h"
#include "imstkRenderMaterial.h"
-#include "imstkScene.h"
-#include "imstkSimulationManager.h"
#include "imstkSphere.h"
#include "imstkSurfaceMesh.h"
#include "imstkSurfaceMeshToSphereCD.h"
#include "imstkVecDataArray.h"
#include "imstkVisualModel.h"
-#include "imstkVisualTestingUtils.h"
-#include "imstkVTKViewer.h"
using namespace imstk;
@@ -41,18 +35,20 @@ using namespace imstk;
/// \brief This test is used to investigate Triangle Vs Sphere collision
/// of the SurfaceMeshToSphereCD method
/// It displays the collision data, and allows users to investigate various cases
-/// by moving the geometry around with keyboard controls i,j,k,l,o,u
///
-TEST_F(VisualTestManager, TriangleVsSphere)
+TEST_F(CollisionDetectionVisualTest, TriangleVsSphere)
{
- // Setup the scene
- m_scene = std::make_shared<Scene>("TriangleVsSphereTest");
- m_scene->getActiveCamera()->setPosition(0, 2.74, 2.69);
- m_scene->getActiveCamera()->setFocalPoint(0.0, 0.0, 0.0);
- m_scene->getActiveCamera()->setViewUp(0, 0.71, -0.71);
+ m_camera = std::make_shared<Camera>();
+ m_camera->setPosition(0, 2.74, 2.69);
+ m_camera->setFocalPoint(0.0, 0.0, 0.0);
+ m_camera->setViewUp(0, 0.71, -0.71);
+
+ m_cdGeom1 = std::make_shared<Sphere>(Vec3d(0.0, 0.0, 0.0), 1.0);
+ m_cdObj1->getVisualModel(0)->getRenderMaterial()->setDisplayMode(
+ RenderMaterial::DisplayMode::Surface);
+
+ auto triangleMesh = std::make_shared<SurfaceMesh>();
- auto obj1 = std::make_shared<CollidingObject>("obj1");
- auto triangleMesh = std::make_shared<SurfaceMesh>();
VecDataArray<double, 3> triangleVertices(3);
triangleVertices[0] = Vec3d(-0.5, 0.9, -0.5);
triangleVertices[1] = Vec3d(0.5, 0.9, -0.5);
@@ -62,77 +58,13 @@ TEST_F(VisualTestManager, TriangleVsSphere)
triangleMesh->initialize(
std::make_shared<VecDataArray<double, 3>>(triangleVertices),
std::make_shared<VecDataArray<int, 3>>(triangleIndices));
- obj1->setVisualGeometry(triangleMesh);
- obj1->setCollidingGeometry(triangleMesh);
- obj1->getVisualModel(0)->getRenderMaterial()->setBackFaceCulling(false);
- m_scene->addSceneObject(obj1);
-
- auto obj2 = std::make_shared<CollidingObject>("obj2");
- auto sphere = std::make_shared<Sphere>(Vec3d(0.0, 0.0, 0.0), 1.0);
- obj2->setVisualGeometry(sphere);
- obj2->setCollidingGeometry(sphere);
- obj2->getVisualModel(0)->getRenderMaterial()->setOpacity(0.5);
- m_scene->addSceneObject(obj2);
-
- auto cd = std::make_shared<SurfaceMeshToSphereCD>();
- cd->setInputGeometryA(triangleMesh);
- cd->setInputGeometryB(sphere);
- cd->update();
-
- // Debug geometry
- auto cdDebugObj = std::make_shared<CollisionDataDebugObject>();
- cdDebugObj->setInputCD(cd->getCollisionData());
- cdDebugObj->setPrintContacts(true);
- m_scene->addSceneObject(cdDebugObj);
-
- // Light
- auto light = std::make_shared<DirectionalLight>();
- light->setFocalPoint(Vec3d(5.0, -8.0, -5.0));
- light->setIntensity(1.0);
- m_scene->addLight("Light", light);
-
- std::cout << "================================================\n";
- std::cout << "Key i/j/k/u/o move the triangle\n";
- std::cout << "================================================\n\n";
+ m_cdGeom2 = triangleMesh;
- connect<KeyEvent>(m_viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress,
- [&](KeyEvent* e)
- {
- const double s = 0.05;
- if (e->m_key == 'i')
- {
- triangleMesh->translate(Vec3d(0.0, 0.0, 1.0) * s);
- }
- else if (e->m_key == 'k')
- {
- triangleMesh->translate(Vec3d(0.0, 0.0, -1.0) * s);
- }
- else if (e->m_key == 'j')
- {
- triangleMesh->translate(Vec3d(-1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'l')
- {
- triangleMesh->translate(Vec3d(1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'u')
- {
- triangleMesh->translate(Vec3d(0.0, -1.0, 0.0) * s);
- }
- else if (e->m_key == 'o')
- {
- triangleMesh->translate(Vec3d(0.0, 1.0, 0.0) * s);
- }
- triangleMesh->postModified();
- triangleMesh->updatePostTransformData();
- cd->update();
- cdDebugObj->debugUpdate();
- });
- connect<Event>(m_driver, &SimulationManager::starting,
- [&](Event*)
- {
- cdDebugObj->debugUpdate();
- });
+ m_collisionMethod = std::make_shared<SurfaceMeshToSphereCD>();
+ m_collisionMethod->setInputGeometryA(m_cdGeom2);
+ m_collisionMethod->setInputGeometryB(m_cdGeom1);
+ m_collisionMethod->update();
+ createScene();
runFor(2.0);
}
\ No newline at end of file
diff --git a/Source/CollisionDetection/VisualTesting/imstkTriangleVsTriangleTest.cpp b/Source/CollisionDetection/VisualTesting/imstkTriangleVsTriangleTest.cpp
index 69395c62863504ebad1714decece1527d48e6c27..fc6bd0e69423852195d7c98d87e7977a38702fa0 100644
--- a/Source/CollisionDetection/VisualTesting/imstkTriangleVsTriangleTest.cpp
+++ b/Source/CollisionDetection/VisualTesting/imstkTriangleVsTriangleTest.cpp
@@ -20,19 +20,10 @@
=========================================================================*/
#include "imstkCamera.h"
-#include "imstkCollidingObject.h"
-#include "imstkCollisionDataDebugObject.h"
-#include "imstkDirectionalLight.h"
-#include "imstkKeyboardDeviceClient.h"
-#include "imstkRenderMaterial.h"
-#include "imstkScene.h"
-#include "imstkSimulationManager.h"
+#include "imstkCollisionDetectionVisualTest.h"
#include "imstkSurfaceMesh.h"
#include "imstkSurfaceMeshToSurfaceMeshCD.h"
#include "imstkVecDataArray.h"
-#include "imstkVisualModel.h"
-#include "imstkVisualTestingUtils.h"
-#include "imstkVTKViewer.h"
using namespace imstk;
@@ -40,17 +31,14 @@ using namespace imstk;
/// \brief This test is used to investigate Triangle Vs Triangle collision
/// of the SurfaceMeshToSurfaceMeshCD method.
/// It displays the collision data, and allows users to investigate various cases
-/// by moving the geometry around with keyboard controls i,j,k,l,o,u
///
-TEST_F(VisualTestManager, TriangleVsTriangle)
+TEST_F(CollisionDetectionVisualTest, TriangleVsTriangle)
{
- // Setup the scene
- m_scene = std::make_shared<Scene>("TriangleVsTriangleTest");
- m_scene->getActiveCamera()->setPosition(0.18, 1.08, 1.34);
- m_scene->getActiveCamera()->setFocalPoint(0.0, 0.0, 0.0);
- m_scene->getActiveCamera()->setViewUp(0.011, 0.78, -0.63);
+ m_camera = std::make_shared<Camera>();
+ m_camera->setPosition(0.18, 1.08, 1.34);
+ m_camera->setFocalPoint(0.0, 0.0, 0.0);
+ m_camera->setViewUp(0.011, 0.78, -0.63);
- auto obj1 = std::make_shared<CollidingObject>("obj1");
auto triangleMesh1 = std::make_shared<SurfaceMesh>();
VecDataArray<double, 3> triangleVertices1(3);
triangleVertices1[0] = Vec3d(0.1, 0.0, -0.5);
@@ -61,12 +49,8 @@ TEST_F(VisualTestManager, TriangleVsTriangle)
triangleMesh1->initialize(
std::make_shared<VecDataArray<double, 3>>(triangleVertices1),
std::make_shared<VecDataArray<int, 3>>(triangleIndices1));
- obj1->setVisualGeometry(triangleMesh1);
- obj1->setCollidingGeometry(triangleMesh1);
- obj1->getVisualModel(0)->getRenderMaterial()->setBackFaceCulling(false);
- m_scene->addSceneObject(obj1);
+ m_cdGeom1 = triangleMesh1;
- auto obj2 = std::make_shared<CollidingObject>("obj2");
auto triangleMesh2 = std::make_shared<SurfaceMesh>();
VecDataArray<double, 3> triangleVertices2(3);
triangleVertices2[0] = Vec3d(-0.1, 0.5, 0.0);
@@ -77,70 +61,13 @@ TEST_F(VisualTestManager, TriangleVsTriangle)
triangleMesh2->initialize(
std::make_shared<VecDataArray<double, 3>>(triangleVertices2),
std::make_shared<VecDataArray<int, 3>>(triangleIndices2));
- obj2->setVisualGeometry(triangleMesh2);
- obj2->setCollidingGeometry(triangleMesh2);
- obj2->getVisualModel(0)->getRenderMaterial()->setBackFaceCulling(false);
- m_scene->addSceneObject(obj2);
+ m_cdGeom2 = triangleMesh2;
- auto cd = std::make_shared<SurfaceMeshToSurfaceMeshCD>();
- cd->setInputGeometryA(triangleMesh1);
- cd->setInputGeometryB(triangleMesh2);
- cd->update();
-
- // Debug geometry to visualize collision data
- auto cdDebugObj = std::make_shared<CollisionDataDebugObject>();
- cdDebugObj->setInputCD(cd->getCollisionData());
- cdDebugObj->setPrintContacts(true);
- m_scene->addSceneObject(cdDebugObj);
-
- // Light
- auto light = std::make_shared<DirectionalLight>();
- light->setFocalPoint(Vec3d(5.0, -8.0, -5.0));
- light->setIntensity(1.0);
- m_scene->addLight("Light", light);
-
- std::cout << "================================================\n";
- std::cout << "Key i/j/k/u/o move the triangle\n";
- std::cout << "================================================\n\n";
-
- connect<KeyEvent>(m_viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress,
- [&](KeyEvent* e)
- {
- const double s = 0.05;
- if (e->m_key == 'i')
- {
- triangleMesh2->translate(Vec3d(0.0, 0.0, 1.0) * s);
- }
- else if (e->m_key == 'k')
- {
- triangleMesh2->translate(Vec3d(0.0, 0.0, -1.0) * s);
- }
- else if (e->m_key == 'j')
- {
- triangleMesh2->translate(Vec3d(-1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'l')
- {
- triangleMesh2->translate(Vec3d(1.0, 0.0, 0.0) * s);
- }
- else if (e->m_key == 'u')
- {
- triangleMesh2->translate(Vec3d(0.0, -1.0, 0.0) * s);
- }
- else if (e->m_key == 'o')
- {
- triangleMesh2->translate(Vec3d(0.0, 1.0, 0.0) * s);
- }
- triangleMesh2->postModified();
- triangleMesh2->updatePostTransformData();
- cd->update();
- cdDebugObj->debugUpdate();
- });
- connect<Event>(m_driver, &SimulationManager::starting,
- [&](Event*)
- {
- cdDebugObj->debugUpdate();
- });
+ m_collisionMethod = std::make_shared<SurfaceMeshToSurfaceMeshCD>();
+ m_collisionMethod->setInputGeometryA(triangleMesh1);
+ m_collisionMethod->setInputGeometryB(triangleMesh2);
+ m_collisionMethod->update();
+ createScene();
runFor(2.0);
}
\ No newline at end of file
diff --git a/Source/RenderingVTK/VisualTesting/imstkRenderAnalyticalGeometryTest.cpp b/Source/RenderingVTK/VisualTesting/imstkRenderAnalyticalGeometryTest.cpp
index 6e98e34009af16ee8b3654b319d992164999584b..392029ebfe7aec17cb5fd933cefbf797a7e3adab 100644
--- a/Source/RenderingVTK/VisualTesting/imstkRenderAnalyticalGeometryTest.cpp
+++ b/Source/RenderingVTK/VisualTesting/imstkRenderAnalyticalGeometryTest.cpp
@@ -27,35 +27,35 @@
#include "imstkPlane.h"
#include "imstkSphere.h"
-TEST_F(RenderTest, createCapsule)
+TEST_F(RenderTest, Capsule)
{
geom = std::make_shared<Capsule>();
createScene();
runAllMaterials();
}
-TEST_F(RenderTest, createCylinder)
+TEST_F(RenderTest, Cylinder)
{
geom = std::make_shared<Cylinder>();
createScene();
runAllMaterials();
}
-TEST_F(RenderTest, createOrientedBox)
+TEST_F(RenderTest, OrientedBox)
{
geom = std::make_shared<OrientedBox>();
createScene();
runAllMaterials();
}
-TEST_F(RenderTest, createPlane)
+TEST_F(RenderTest, Plane)
{
geom = std::make_shared<Plane>();
createScene();
runAllMaterials();
}
-TEST_F(RenderTest, createSphere)
+TEST_F(RenderTest, Sphere)
{
geom = std::make_shared<Sphere>();
createScene();
diff --git a/Source/RenderingVTK/VisualTesting/imstkRenderTest.h b/Source/RenderingVTK/VisualTesting/imstkRenderTest.h
index 7da7a92fbc989ef8c94a5fdbe9674bd66938a581..056d6ae2c89c53627dba08d89d8ce0c152a7859b 100644
--- a/Source/RenderingVTK/VisualTesting/imstkRenderTest.h
+++ b/Source/RenderingVTK/VisualTesting/imstkRenderTest.h
@@ -34,7 +34,7 @@ class VisualModel;
using namespace imstk;
-class RenderTest : public VisualTestManager
+class RenderTest : public VisualTest
{
public:
void runAllMaterials();
diff --git a/Source/RenderingVTK/VisualTesting/imstkRenderTetrahedralMeshTest.cpp b/Source/RenderingVTK/VisualTesting/imstkRenderTetrahedralMeshTest.cpp
index 69daff1777539451337ef69f25145bb8073394f2..bb41b629ad011ae086a9dc30d85c71fbd7b2a1f7 100644
--- a/Source/RenderingVTK/VisualTesting/imstkRenderTetrahedralMeshTest.cpp
+++ b/Source/RenderingVTK/VisualTesting/imstkRenderTetrahedralMeshTest.cpp
@@ -23,7 +23,7 @@
#include "imstkTetrahedralMesh.h"
#include "imstkVecDataArray.h"
-TEST_F(RenderTest, createTetrahedralMesh)
+TEST_F(RenderTest, TetrahedralMesh)
{
auto tetMesh = std::make_shared<TetrahedralMesh>();
geom = tetMesh;
diff --git a/Source/Scene/VisualTesting/imstkPbdObjectCollisionTest.cpp b/Source/Scene/VisualTesting/imstkPbdObjectCollisionTest.cpp
index d4a953f68bdf34c1c7a7a4789fc13e1a386560e6..c8748b373bd2beaca3b9b0c1d6d20ba5ccfa43e5 100644
--- a/Source/Scene/VisualTesting/imstkPbdObjectCollisionTest.cpp
+++ b/Source/Scene/VisualTesting/imstkPbdObjectCollisionTest.cpp
@@ -377,7 +377,7 @@ makeLineThreadObj(const std::string& name,
return tissueObj;
}
-class PbdObjectCollisionTest : public VisualTestManager
+class PbdObjectCollisionTest : public VisualTest
{
public:
void createScene()
diff --git a/Source/Testing/imstkTestingMain.cpp b/Source/Testing/imstkTestingMain.cpp
index b77eaa4f4442c68af12e8d10193db12079f8c012..b684f8501fd8faac38b6a0e3940ffb706e7ae67e 100644
--- a/Source/Testing/imstkTestingMain.cpp
+++ b/Source/Testing/imstkTestingMain.cpp
@@ -45,7 +45,6 @@ main(int argc, char** argv)
auto& logger = imstk::Logger::getInstance();
logger.addFileSink("test", "log");
- logger.addStdoutSink();
::testing::InitGoogleTest(&argc, argv);
GTEST_FLAG_SET(death_test_style, "threadsafe");
diff --git a/Source/Testing/imstkVisualTestingUtils.cpp b/Source/Testing/imstkVisualTestingUtils.cpp
index 60c56e988591f9c5f52b2d547b0b444c28a2c144..4df99ae315a5c59ea7c3061e4257f7427fa8c969 100644
--- a/Source/Testing/imstkVisualTestingUtils.cpp
+++ b/Source/Testing/imstkVisualTestingUtils.cpp
@@ -34,8 +34,12 @@
using namespace imstk;
void
-VisualTestManager::SetUp()
+VisualTest::SetUp()
{
+ if (m_useStdOut)
+ {
+ Logger::getInstance().addStdoutSink();
+ }
// Constructed early so user can subscribe calls to them
m_driver = std::make_shared<SimulationManager>();
m_sceneManager = std::make_shared<SceneManager>();
@@ -43,7 +47,7 @@ VisualTestManager::SetUp()
}
void
-VisualTestManager::runFor(const double duration, const double fixedTimestep)
+VisualTest::runFor(const double duration, const double fixedTimestep)
{
m_duration = duration;
diff --git a/Source/Testing/imstkVisualTestingUtils.h b/Source/Testing/imstkVisualTestingUtils.h
index c5897da786faa66e35f10dc956c40681005dec49..951c9e1dfba60a9b60d987dc1e6c7a0e20827355 100644
--- a/Source/Testing/imstkVisualTestingUtils.h
+++ b/Source/Testing/imstkVisualTestingUtils.h
@@ -33,7 +33,7 @@ class VTKViewer;
using namespace imstk;
-class VisualTestManager : public testing::Test
+class VisualTest : public testing::Test
{
public:
void SetUp() override;
@@ -48,7 +48,8 @@ public:
protected:
double m_duration = 2.0; ///< Duration to run the test
double m_dt = 0.001; ///< Fixed timestep
- bool m_timerPaused = false;
+ bool m_timerPaused = false; ///< Pauses the test timer
+ bool m_useStdOut = false; //< Enables std out in the logger, default off for testing
std::shared_ptr<VTKViewer> m_viewer = nullptr;
std::shared_ptr<SceneManager> m_sceneManager = nullptr;