ENH: Implement VirtualCouplingObject

Subclass of trackingcontroller and collidingobject

Base/Scene/Object/imstkSceneObject.h

@@ -36,14 +36,14 @@ public:
     {
         Visual,
         Static,
-        VirtualCoupled,
+        VirtualCoupling,
         Rigid,
         Deformable
     };
 
     SceneObject(std::string name) : m_name(name) {}
 
-    ~SceneObject() = default;
+    virtual ~SceneObject() = default;
 
     const Type& getType() const;
 

Base/Scene/Object/imstkVirtualCouplingObject.cpp

+/*=========================================================================
+
+   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 "imstkVirtualCouplingObject.h"
+
+#include <memory>
+
+#include "imstkGeometry.h"
+#include "imstkGeometryMap.h"
+
+#include <g3log/g3log.hpp>
+
+namespace imstk {
+
+void
+VirtualCouplingObject::updateFromDevice()
+{
+    Vec3d p;
+    Quatd r;
+
+    if (!this->computeTrackingData(p, r))
+    {
+        LOG(WARNING) << "VirtualCouplingObject::updateFromDevice warning: could not update tracking info.";
+        return;
+    }
+
+    // Update colliding geometry
+    m_collidingGeometry->setPosition(p);
+    m_collidingGeometry->setOrientation(r);
+
+    // Update visual geometry
+    if(m_collidingToVisualMap)
+    {
+        m_collidingToVisualMap->apply();
+    }
+}
+}

Base/Scene/Object/imstkVirtualCouplingObject.h

+/*=========================================================================
+
+   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.
+
+   =========================================================================*/
+
+#ifndef imstkVirtualCouplingObject_h
+#define imstkVirtualCouplingObject_h
+
+#include "imstkCollidingObject.h"
+#include "imstkTrackingController.h"
+
+namespace imstk {
+
+class Geometry;
+class GeometryMap;
+
+class VirtualCouplingObject : public CollidingObject, public TrackingController
+{
+public:
+
+    VirtualCouplingObject(std::string name,
+                          std::shared_ptr<DeviceClient> deviceClient = nullptr,
+                          double scaling = 1.0) :
+        CollidingObject(name),
+        TrackingController(deviceClient, scaling)
+    {
+        m_type = Type::VirtualCoupling;
+    }
+
+    ~VirtualCouplingObject() = default;
+
+    void updateFromDevice();
+
+};
+
+}
+
+#endif // ifndef imstkVirtualCouplingObject_h

Base/SimulationManager/imstkSceneManager.cpp

@@ -22,6 +22,7 @@
 #include "imstkSceneManager.h"
 
 #include "imstkCameraController.h"
+#include "imstkVirtualCouplingObject.h"
 
 #include "g3log/g3log.hpp"
 
@@ -45,6 +46,21 @@ SceneManager::initModule()
     }
 }
 
+void
+SceneManager::runModule()
+{
+    LOG(DEBUG) << m_name << " manager : running";
+
+    for (auto obj : m_scene->getSceneObjects())
+    {
+        if (auto virtualCoupling = std::dynamic_pointer_cast<VirtualCouplingObject>(obj))
+        {
+            virtualCoupling->updateFromDevice();
+        }
+    }
+}
+
+
 void
 SceneManager::cleanUpModule()
 {
@@ -56,13 +72,6 @@ SceneManager::cleanUpModule()
         m_threadMap.at(camController->getName()).join();
     }
 }
-
-void
-SceneManager::runModule()
-{
-    LOG(DEBUG) << m_name << " manager : running";
-}
-
 void
 SceneManager::startModuleInNewThread(std::shared_ptr<Module> module)
 {