diff --git a/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp b/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
index 14ae29baabddf4509447e30f5c387d9d62e9ed90..3a04e5b6b3eade7016df3a574b112579389b5d98 100644
--- a/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
+++ b/Source/Collision/CollisionDetection/imstkMeshToMeshBruteForceCD.cpp
@@ -42,6 +42,7 @@ MeshToMeshBruteForceCD::MeshToMeshBruteForceCD(std::shared_ptr<Geometry> ob
{
}
+// The above error is caused by the
void
MeshToMeshBruteForceCD::computeCollisionData()
{
@@ -80,7 +81,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
m_proximityTolerance,
m_proximityTolerance))
{
- m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
+ m_colData->VTColData.safeAppend({ static_cast<uint32_t>(i), static_cast<uint32_t>(j), 0.0 });
}
}
}
@@ -90,7 +91,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
std::vector<std::vector<bool>> E2(numVertices, std::vector<bool>(numVertices, 1));
const auto triangleVertices = mesh2->getTrianglesVertices();
- for (int k = 0; k < numLines; ++k)
+ for (size_t k = 0; k < numLines; ++k)
{
const auto nodes = mesh1->getLinesVertices()[k];
const size_t i1 = nodes[0];
@@ -113,7 +114,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p0[0], p0[1], p0[2],
p1[0], p1[1], p1[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[0], e[1] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[0], (uint32_t)e[1] }, 0.0 });
}
E2[e[0]][e[1]] = 0;
}
@@ -125,7 +126,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[1], e[2] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[1], (uint32_t)e[2] }, 0.0 });
}
E2[e[1]][e[2]] = 0;
}
@@ -137,7 +138,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p2[0], p2[1], p2[2],
p0[0], p0[1], p0[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[2], e[0] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[2], (uint32_t)e[0] }, 0.0 });
}
E2[e[2]][e[0]] = 0;
}
@@ -167,7 +168,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
+ m_colData->VTColData.safeAppend({ static_cast<uint32_t>(i), static_cast<uint32_t>(j), 0.0 });
}
}
}
@@ -195,7 +196,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
+ m_colData->VTColData.safeAppend({ static_cast<uint32_t>(i), static_cast<uint32_t>(j), 0.0 });
}
}
}
@@ -212,8 +213,9 @@ MeshToMeshBruteForceCD::computeCollisionData()
for (size_t k = 0; k < elements.size(); ++k)
{
const SurfaceMesh::TriangleArray& tri = elements[k];
- size_t i1 = tri[0];
- size_t i2 = tri[1];
+
+ size_t i1 = tri[0];
+ size_t i2 = tri[1];
if (E[i1][i2] && E[i2][i1])
{
@@ -234,7 +236,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p0[0], p0[1], p0[2],
p1[0], p1[1], p1[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[0], e[1] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[0], (uint32_t)e[1] }, 0.0 });
E2[e[0]][e[1]] = 0;
}
}
@@ -246,7 +248,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[1], e[2] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[1], (uint32_t)e[2] }, 0.0 });
E2[e[1]][e[2]] = 0;
}
}
@@ -258,7 +260,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p2[0], p2[1], p2[2],
p0[0], p0[1], p0[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[2], e[0] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[2], (uint32_t)e[0] }, 0.0 });
E2[e[2]][e[0]] = 0;
}
}
@@ -288,7 +290,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p0[0], p0[1], p0[2],
p1[0], p1[1], p1[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[0], e[1] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[0], (uint32_t)e[1] }, 0.0 });
E2[e[0]][e[1]] = 0;
}
}
@@ -300,7 +302,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[1], e[2] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[1], (uint32_t)e[2] }, 0.0 });
E2[e[1]][e[2]] = 0;
}
}
@@ -312,7 +314,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p2[0], p2[1], p2[2],
p0[0], p0[1], p0[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[2], e[0] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[2], (uint32_t)e[0] }, 0.0 });
E2[e[2]][e[0]] = 0;
}
}
@@ -341,7 +343,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p0[0], p0[1], p0[2],
p1[0], p1[1], p1[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[0], e[1] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[0], (uint32_t)e[1] }, 0.0 });
E2[e[0]][e[1]] = 0;
}
}
@@ -353,7 +355,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p1[0], p1[1], p1[2],
p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[1], e[2] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[1], (uint32_t)e[2] }, 0.0 });
E2[e[1]][e[2]] = 0;
}
}
@@ -365,7 +367,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
p2[0], p2[1], p2[2],
p0[0], p0[1], p0[2], m_proximityTolerance, m_proximityTolerance))
{
- m_colData->EEColData.safeAppend({ { i1, i2 }, { e[2], e[0] }, 0.0 });
+ m_colData->EEColData.safeAppend({ { (uint32_t)i1, (uint32_t)i2 }, { (uint32_t)e[2], (uint32_t)e[0] }, 0.0 });
E2[e[2]][e[0]] = 0;
}
}
diff --git a/Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp b/Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
index 9720f9212a87315600f069b345ab9cfa2456c9b0..d394fe0e4e5d239a383434edfdfa497d9b6a3533 100644
--- a/Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
+++ b/Source/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
@@ -43,7 +43,7 @@ TetraToTetraCD::TetraToTetraCD(std::shared_ptr<TetrahedralMesh> meshA,
void
TetraToTetraCD::findCollisionsForMeshWithinHashTable(const std::shared_ptr<TetrahedralMesh> mesh, size_t idOffset)
{
- const auto eps = VERY_SMALL_EPSILON;
+ constexpr const auto eps = VERY_SMALL_EPSILON;
const double eps2 = 1e-10;
//tetrahedron belonging part of penetration type does not change
@@ -97,8 +97,11 @@ TetraToTetraCD::findCollisionsForMeshWithinHashTable(const std::shared_ptr<Tetra
&& bCoord[2] >= -eps
&& bCoord[3] >= -eps)
{
+#pragma warning( push )
+#pragma warning( disable : 4189 )
auto coordSum = bCoord[0] + bCoord[1] + bCoord[2] + bCoord[3];
assert(coordSum <= 1.0 + eps2 && coordSum >= 1.0 - eps2);
+#pragma warning( pop )
m_colData->PTColData.safeAppend({ cType, static_cast<uint32_t>(vId), static_cast<uint32_t>(tId), bCoord });
}
} //if not this tetrahedron
@@ -118,4 +121,4 @@ TetraToTetraCD::computeCollisionData()
this->findCollisionsForMeshWithinHashTable(m_meshA, 0);
this->findCollisionsForMeshWithinHashTable(m_meshB, m_meshA->getNumVertices());
}
-}
+}
\ No newline at end of file
diff --git a/Source/Collision/imstkPbdInteractionPair.cpp b/Source/Collision/imstkPbdInteractionPair.cpp
index 32f9f94596eda2b583a497482d64dd9a46bf6cec..2c7fadbb848cd950f1ed4e2df63eebd8c0997adf 100644
--- a/Source/Collision/imstkPbdInteractionPair.cpp
+++ b/Source/Collision/imstkPbdInteractionPair.cpp
@@ -104,9 +104,9 @@ PbdInteractionPair::doNarrowPhaseCollision()
for (int k = 0; k < nL1; ++k)
{
- auto nodes = mesh1->getLinesVertices()[k];
- unsigned int i1 = nodes[0];
- unsigned int i2 = nodes[1];
+ auto nodes = mesh1->getLinesVertices()[k];
+ size_t i1 = nodes[0];
+ size_t i2 = nodes[1];
const Vec3d P = mesh1->getVertexPosition(i1);
const Vec3d Q = mesh1->getVertexPosition(i2);
diff --git a/Source/Core/imstkMath.h b/Source/Core/imstkMath.h
index f0d60ff6ca582bc93885d415ef26a7fb45faf399..7de6ed1099516d12ff9af25312f90d199a743236 100644
--- a/Source/Core/imstkMath.h
+++ b/Source/Core/imstkMath.h
@@ -22,7 +22,12 @@
#pragma once
#include <Eigen/Geometry>
+
+#pragma warning( push )
+#pragma warning( disable : 4127 )
#include <Eigen/Sparse>
+#pragma warning( pop )
+
#include <Eigen/StdVector>
#include <vector>
diff --git a/Source/Devices/imstkVRPNArduinoDeviceClient.cpp b/Source/Devices/imstkVRPNArduinoDeviceClient.cpp
index f0dc07aedc77c8a2f33a9091c5d33b94effd76be..b85b03ee7036ebf5fd254b7cbcbd31c5f204473d 100644
--- a/Source/Devices/imstkVRPNArduinoDeviceClient.cpp
+++ b/Source/Devices/imstkVRPNArduinoDeviceClient.cpp
@@ -56,6 +56,6 @@ VRPNArduinoDeviceClient::analogChangeHandler(void* userData, const _vrpn_ANALOGC
//deviceClient->m_ypr << a.channel[0], a.channel[1], a.channel[2];
//deviceClient->m_accel << a.channel[3], a.channel[4], a.channel[5];
- deviceClient->m_roll = a.channel[0];
+ deviceClient->m_roll = (float)a.channel[0];
}
} // imstk
diff --git a/Source/DynamicalModels/InternalForceModel/imstkCorotationalFEMForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkCorotationalFEMForceModel.h
index eda6d438dbda3a2ed6bc4e24b28dbd7b49e54f8f..e0996c9fbb55c28a94f676d1d4960d65781178b6 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkCorotationalFEMForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkCorotationalFEMForceModel.h
@@ -28,8 +28,11 @@
//imstk
#include "imstkInternalForceModel.h"
+#pragma warning( push )
+#pragma warning( disable : 4458 )
//vega
#include "corotationalLinearFEM.h"
+#pragma warning( pop )
namespace imstk
{
diff --git a/Source/DynamicalModels/InternalForceModel/imstkInternalForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkInternalForceModel.h
index 08fd7b2648ff8e478eb49cec4ab30ee4953a9912..579b6de4811a3db8d85abb2b8c95926d0be9a5ea 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkInternalForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkInternalForceModel.h
@@ -25,8 +25,12 @@
#include "imstkMath.h"
+#pragma warning( push )
+#pragma warning( disable : 4458 )
+#pragma warning( disable : 4100 )
//vega
#include "forceModel.h"
+#pragma warning( pop )
namespace imstk
{
diff --git a/Source/DynamicalModels/InternalForceModel/imstkIsotropicHyperelasticFEMForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkIsotropicHyperelasticFEMForceModel.h
index ef924f5449ab6eaac05204649ce499e8131cb328..296976ae988746416e2da9bc8aa13b18b765ddf4 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkIsotropicHyperelasticFEMForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkIsotropicHyperelasticFEMForceModel.h
@@ -27,7 +27,11 @@
#include "imstkInternalForceModel.h"
//vega
+#pragma warning( push )
+#pragma warning( disable : 4458 )
#include "isotropicHyperelasticFEM.h"
+#pragma warning( pop )
+
#include "StVKIsotropicMaterial.h"
#include "neoHookeanIsotropicMaterial.h"
#include "MooneyRivlinIsotropicMaterial.h"
diff --git a/Source/DynamicalModels/InternalForceModel/imstkLinearFEMForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkLinearFEMForceModel.h
index 285092a9463508ac21f29202a3d936aa62b98bbd..a5f56293df3477aca55007e860c2342cd1d18de7 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkLinearFEMForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkLinearFEMForceModel.h
@@ -88,14 +88,19 @@ public:
m_stiffnessMatrix->MultiplyVector(data, internalForce.data());
}
+#pragma warning( push )
+#pragma warning( disable : 4100 )
///
/// \brief Get the tangent stiffness matrix
+ /// \todo Clear warning C4100
///
inline void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix) override
{
InternalForceModel::updateValuesFromMatrix(m_stiffnessMatrix, tangentStiffnessMatrix.valuePtr());
}
+#pragma warning( pop )
+
///
/// \brief Get the tangent stiffness matrix topology
///
diff --git a/Source/DynamicalModels/InternalForceModel/imstkMassSpringForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkMassSpringForceModel.h
index 6aef0952dbd0d1ec5996deb11aaf1a9e5a2ad174..777a4241ba997847faea915d781e00ed650c5f7e 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkMassSpringForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkMassSpringForceModel.h
@@ -25,8 +25,11 @@
#include "imstkInternalForceModel.h"
+#pragma warning( push )
+#pragma warning( disable : 4458 )
//vega
#include "massSpringSystem.h"
+#pragma warning( pop )
namespace imstk
{
diff --git a/Source/DynamicalModels/InternalForceModel/imstkStVKForceModel.h b/Source/DynamicalModels/InternalForceModel/imstkStVKForceModel.h
index 34f725eae2988b9a02f885af20dbf02018558e21..96cb82bb1e73c07fb8eadb55f92f45d3510ae4ed 100644
--- a/Source/DynamicalModels/InternalForceModel/imstkStVKForceModel.h
+++ b/Source/DynamicalModels/InternalForceModel/imstkStVKForceModel.h
@@ -27,8 +27,12 @@
//imstk
#include "imstkInternalForceModel.h"
+#pragma warning( push )
+#pragma warning( disable : 4458 )
//vega
#include "StVKInternalForces.h"
+#pragma warning( pop )
+
#include "StVKStiffnessMatrix.h"
#include "StVKElementABCDLoader.h"
diff --git a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
index 4063f686670852590460024e8aebe047c23bfdac..7e7eb229ce65ac751530bbaa284a0f2540997c6a 100644
--- a/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp
@@ -27,7 +27,11 @@
// vega
#include "generateMassMatrix.h"
#include "generateMeshGraph.h"
+
+#pragma warning( push )
+#pragma warning( disable : 4458 )
#include "configFile.h"
+#pragma warning( pop )
namespace imstk
{
@@ -279,7 +283,7 @@ FEMDeformableBodyModel::initializeForceModel()
const double g = m_FEModelConfig->m_gravity;
const bool isGravityPresent = (g > 0) ? true : false;
- m_numDOF = m_vegaPhysicsMesh->getNumVertices() * 3;
+ m_numDOF = (size_t)m_vegaPhysicsMesh->getNumVertices() * 3;
switch (m_FEModelConfig->m_femMethod)
{
@@ -389,7 +393,7 @@ FEMDeformableBodyModel::initializeTangentStiffness()
CHECK(m_internalForceModel)
<< "DeformableBodyModel::initializeTangentStiffness: Tangent stiffness cannot be initialized without force model";
- vega::SparseMatrix* matrix;
+ vega::SparseMatrix* matrix = nullptr;
m_internalForceModel->getTangentStiffnessMatrixTopology(&matrix);
CHECK(matrix) << "DeformableBodyModel::initializeTangentStiffness - Tangent stiffness matrix topology not avaliable!";
@@ -476,10 +480,10 @@ FEMDeformableBodyModel::computeSemiImplicitSystemRHS(kinematicState& state
kinematicState& newState,
const StateUpdateType updateType)
{
- auto& uPrev = stateAtT.getQ();
+ //auto& uPrev = stateAtT.getQ();
auto& vPrev = stateAtT.getQDot();
auto& u = newState.getQ();
- auto& v = newState.getQDot();
+ //auto& v = newState.getQDot();
// Do checks if there are uninitialized matrices
m_internalForceModel->getTangentStiffnessMatrix(u, m_K);
@@ -515,11 +519,15 @@ FEMDeformableBodyModel::computeImplicitSystemLHS(const kinematicState& stateAtT,
kinematicState& newState,
const StateUpdateType updateType)
{
+
+
const double dT = m_timeIntegrator->getTimestepSize();
switch (updateType)
{
case StateUpdateType::deltaVelocity:
+
+ stateAtT;// supress warning (state is not used in this update type hence can be ignored)
this->updateMassMatrix();
m_internalForceModel->getTangentStiffnessMatrix(newState.getQ(), m_K);
@@ -646,10 +654,10 @@ FEMDeformableBodyModel::updateBodyIntermediateStates(
const Vectord& solution,
const StateUpdateType updateType)
{
- auto& uPrev = m_previousState->getQ();
- auto& u = m_currentState->getQ();
- auto& v = m_currentState->getQDot();
- const double dT = m_timeIntegrator->getTimestepSize();
+ auto& uPrev = m_previousState->getQ();
+ //auto& u = m_currentState->getQ();
+ auto& v = m_currentState->getQDot();
+ const double dT = m_timeIntegrator->getTimestepSize();
switch (updateType)
{
@@ -674,6 +682,9 @@ FEMDeformableBodyModel::updateBodyIntermediateStates(
NonLinearSystem::VectorFunctionType
FEMDeformableBodyModel::getFunction()
{
+#pragma warning( push )
+#pragma warning( disable : 4100 )
+
// Function to evaluate the nonlinear objective function given the current state
return [&, this](const Vectord& q, const bool semiImplicit)->const Vectord&
{
@@ -686,11 +697,15 @@ FEMDeformableBodyModel::getFunction()
}
return m_Feff;
};
+
+#pragma warning( pop )
}
NonLinearSystem::MatrixFunctionType
FEMDeformableBodyModel::getFunctionGradient()
{
+#pragma warning( push )
+#pragma warning( disable : 4100 )
// Gradient of the nonlinear objective function given the current state
return [&, this](const Vectord& q)->const SparseMatrixd&
{
@@ -702,6 +717,8 @@ FEMDeformableBodyModel::getFunctionGradient()
}
return m_Keff;
};
+
+#pragma warning( pop )
}
NonLinearSystem::UpdateFunctionType
diff --git a/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.cpp b/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.cpp
index 0f27a22b435cea0f36096aaadb68b1f3609f4a72..ff422455e2a77c45973fb0c4d3b6b982e0655ba5 100644
--- a/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.cpp
@@ -85,38 +85,39 @@ RigidBodyModel::initialize()
void
RigidBodyModel::createSphere()
{
- const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial(m_material->m_staticFriction,
- m_material->m_dynamicFriction,
- m_material->m_restitution);
+ const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial((PxReal)m_material->m_staticFriction,
+ (PxReal)m_material->m_dynamicFriction,
+ (PxReal)m_material->m_restitution);
const auto physics = m_rigidBodyWorld->m_Physics;
const auto PxScene = m_rigidBodyWorld->m_Scene;
const auto sphereGeo = std::dynamic_pointer_cast<imstk::Sphere>(m_geometry);
- auto r = sphereGeo->getRadius();
+ auto r = (PxReal)sphereGeo->getRadius();
const auto p = sphereGeo->getPosition() + sphereGeo->getTranslation();
- auto trans = PxTransform(p[0], p[1], p[2]);
+ auto trans = PxTransform((float)p[0], (float)p[1], (float)p[2]);
if (m_isStatic)
{
- if (m_pxStaticActor = PxCreateStatic(*physics,
- trans,
- PxSphereGeometry(r),
- *physxMaterial))
+ m_pxStaticActor = PxCreateStatic(*physics,
+ trans,
+ PxSphereGeometry(r),
+ *physxMaterial);
+ if (m_pxStaticActor)
{
PxScene->addActor(*m_pxStaticActor);
}
}
else
{
- PxGeometry s = PxSphereGeometry(2 * r);
-
- if (m_pxDynamicActor = PxCreateDynamic(*physics,
- trans,
- s,
- *physxMaterial,
- 1.))
+ PxGeometry s = PxSphereGeometry((PxReal)2. * r);
+ m_pxDynamicActor = PxCreateDynamic(*physics,
+ trans,
+ s,
+ *physxMaterial,
+ 1.);
+ if (m_pxDynamicActor)
{
PxScene->addActor(*m_pxDynamicActor);
}
@@ -126,9 +127,9 @@ RigidBodyModel::createSphere()
void
RigidBodyModel::createPlane()
{
- const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial(m_material->m_staticFriction,
- m_material->m_dynamicFriction,
- m_material->m_restitution);
+ const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial((PxReal)m_material->m_staticFriction,
+ (PxReal)m_material->m_dynamicFriction,
+ (PxReal)m_material->m_restitution);
const auto physics = m_rigidBodyWorld->m_Physics;
const auto PxScene = m_rigidBodyWorld->m_Scene;
@@ -141,11 +142,13 @@ RigidBodyModel::createPlane()
if (m_isStatic)
{
- auto plane = PxPlane(PxVec3(0., 0., 0.), PxVec3(n[0], n[1], n[2]));
- if (m_pxStaticActor = PxCreateStatic(*physics,
- PxTransformFromPlaneEquation(plane),
- PxPlaneGeometry(),
- *physxMaterial))
+ auto plane = PxPlane(PxVec3(0., 0., 0.), PxVec3((float)n[0], (float)n[1], (float)n[2]));
+
+ m_pxStaticActor = PxCreateStatic(*physics,
+ PxTransformFromPlaneEquation(plane),
+ PxPlaneGeometry(),
+ *physxMaterial);
+ if (m_pxStaticActor)
{
PxScene->addActor(*m_pxStaticActor);
}
@@ -159,39 +162,42 @@ RigidBodyModel::createPlane()
void
RigidBodyModel::createCube()
{
- const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial(m_material->m_staticFriction,
- m_material->m_dynamicFriction,
- m_material->m_restitution);
+ const auto physxMaterial = m_rigidBodyWorld->m_Physics->createMaterial((PxReal)m_material->m_staticFriction,
+ (PxReal)m_material->m_dynamicFriction,
+ (PxReal)m_material->m_restitution);
const auto physics = m_rigidBodyWorld->m_Physics;
const auto PxScene = m_rigidBodyWorld->m_Scene;
const auto cubeGeo = std::dynamic_pointer_cast<imstk::Cube>(m_geometry);
- auto l = cubeGeo->getWidth();
+ auto l = (PxReal)cubeGeo->getWidth();
const auto p = cubeGeo->getPosition() + cubeGeo->getTranslation();
const Quatd q(cubeGeo->getRotation());
- PxTransform trans(p[0], p[1], p[2], PxQuat(q.x(), q.y(), q.z(), q.w()));
+ PxTransform trans((float)p[0], (float)p[1], (float)p[2], PxQuat((float)q.x(), (float)q.y(), (float)q.z(), (float)q.w()));
if (m_isStatic)
{
- if (m_pxStaticActor = PxCreateStatic(*physics,
- trans,
- PxBoxGeometry(l / 2., l / 2., l / 2.),
- *physxMaterial))
+ m_pxStaticActor = PxCreateStatic(*physics,
+ trans,
+ PxBoxGeometry(l / (PxReal)2., l / (PxReal)2., l / (PxReal)2.),
+ *physxMaterial);
+ if (m_pxStaticActor)
{
PxScene->addActor(*m_pxStaticActor);
}
}
else
{
- if (m_pxDynamicActor = PxCreateDynamic(*physics,
- trans,
- PxBoxGeometry(l / 2., l / 2., l / 2.),
- *physxMaterial,
- 0.1))
+ m_pxDynamicActor = PxCreateDynamic(*physics,
+ trans,
+ PxBoxGeometry(l / (PxReal)2., l / (PxReal)2., l / (PxReal)2.),
+ *physxMaterial,
+ (PxReal)0.1);
+
+ if (m_pxDynamicActor)
{
m_pxDynamicActor->setSleepThreshold(0);
PxScene->addActor(*m_pxDynamicActor);
@@ -219,26 +225,33 @@ RigidBodyModel::createMesh()
for (size_t i = 0; i < numVerts; ++i)
{
auto v = vertData[i];
- vertices[i] = PxVec3(v.x(), v.y(), v.z());
+ vertices[i] = PxVec3((float)v.x(), (float)v.y(), (float)v.z());
}
for (size_t i = 0; i < numTriangles; ++i)
{
auto t = triVerts[i];
- indices[3 * i] = t[0];
- indices[3 * i + 1] = t[1];
- indices[3 * i + 2] = t[2];
+ indices[3 * i] = (PxU32)t[0];
+ indices[3 * i + 1] = (PxU32)t[1];
+ indices[3 * i + 2] = (PxU32)t[2];
}
- PxTriangleMesh* triMesh = createBV34TriangleMesh(numVerts, vertices, numTriangles, indices, false, false, false, 4);
+ PxTriangleMesh* triMesh = createBV34TriangleMesh((PxU32)numVerts, vertices, (PxU32)numTriangles, indices, false, false, false, 4);
PxTransform trans(PxIdentity);
- const auto physxMaterial = PxPhysics->createMaterial(m_material->m_staticFriction, m_material->m_dynamicFriction, m_material->m_restitution);
+ const auto physxMaterial = PxPhysics->createMaterial((PxReal)m_material->m_staticFriction,
+ (PxReal)m_material->m_dynamicFriction,
+ (PxReal)m_material->m_restitution);
// Add mesh actor
if (m_isStatic)
{
m_pxStaticActor = PxPhysics->createRigidStatic(trans);
PxShape* aConvexShape = PxRigidActorExt::createExclusiveShape(*m_pxStaticActor, PxTriangleMeshGeometry(triMesh), *physxMaterial, PxShapeFlag::eSIMULATION_SHAPE);
+ if (!aConvexShape)
+ {
+ LOG(FATAL) << "Could not create convex shape!";
+ }
+
PxScene->addActor(*m_pxStaticActor);
}
else
@@ -250,6 +263,12 @@ RigidBodyModel::createMesh()
}
PxShape* aConvexShape = PxRigidActorExt::createExclusiveShape(*m_pxDynamicActor, PxTriangleMeshGeometry(triMesh), *physxMaterial, PxShapeFlag::eSIMULATION_SHAPE);
+
+ if (!aConvexShape)
+ {
+ LOG(FATAL) << "Could not create convex shape!";
+ }
+
PxScene->addActor(*m_pxDynamicActor);
}
}
@@ -288,15 +307,23 @@ RigidBodyModel::addForce(const Vec3d& force, const Vec3d& pos, bool wakeup)
{
m_force += force;
m_forcePos = pos;
- PxRigidBodyExt::addForceAtLocalPos(*m_pxDynamicActor, physx::PxVec3(force[0], force[1], force[2]), physx::PxVec3(pos[0], pos[1], pos[2]), PxForceMode::eFORCE, wakeup);
+ PxRigidBodyExt::addForceAtLocalPos(*m_pxDynamicActor,
+ physx::PxVec3((float)force[0], (float)force[1], (float)force[2]),
+ physx::PxVec3((float)pos[0], (float)pos[1], (float)pos[2]),
+ PxForceMode::eFORCE, wakeup);
}
+#pragma warning( push )
+#pragma warning( disable : 4100 )
//TODO updating body states as in
void
RigidBodyModel::updateBodyStates(const Vectord& q, const StateUpdateType updateType /* = stateUpdateType::displacement*/)
{
+ LOG(WARNING) << "RigidBodyModel::updateBodyStates Not implemented!";
}
+#pragma warning( pop )
+
void
RigidBodyModel::configure(const std::shared_ptr<Geometry> geom,
const std::shared_ptr<RigidBodyPropertyDesc> matProperty,
diff --git a/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.h b/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.h
index 0bcf8b23fdc35fe25050960596abb01e6f1c08a3..d849241ee12d8596a7b57db0b6601a670942a6a1 100644
--- a/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.h
+++ b/Source/DynamicalModels/ObjectModels/imstkRigidBodyModel.h
@@ -113,7 +113,13 @@ public:
///
/// \brief Set the time step size
///
- void setTimeStep(const double timeStep) {}
+ void setTimeStep(const double timeStep)
+ {
+ if (m_rigidBodyWorld)
+ {
+ m_rigidBodyWorld->setTimeStep((float)timeStep);
+ }
+ }
///
/// \brief Returns the time step size
@@ -130,7 +136,7 @@ public:
//auto q = Quatd(r);
PxTransform pose;
//pose.q = PxQuat(q.x(), q.y(), q.z(), q.w());
- pose.p = PxVec3(p.x(), p.y(), p.z());
+ pose.p = PxVec3((float)p.x(), (float)p.y(), (float)p.z());
m_pxDynamicActor->setGlobalPose(pose);
}
diff --git a/Source/DynamicalModels/ObjectModels/imstkRigidBodyWorld.h b/Source/DynamicalModels/ObjectModels/imstkRigidBodyWorld.h
index 47ecff1300fb197d74476f0800cdd369b6fd62dd..30f4e882d2284e2aebaaa788d4a20708d65373a8 100644
--- a/Source/DynamicalModels/ObjectModels/imstkRigidBodyWorld.h
+++ b/Source/DynamicalModels/ObjectModels/imstkRigidBodyWorld.h
@@ -83,7 +83,21 @@ public:
PxScene* m_Scene = NULL;
PxPvd* m_Pvd = NULL;
+ ///
+ /// \brief Set the time step for the entire physX scene
+ ///
+ void setTimeStep(const float dT) { m_timeStep = dT; };
+
+ ///
+ /// \brief Return the time step size
+ ///
+ float getTimeStep() const { return m_timeStep; }
+
+protected:
+ float m_timeStep = 1.f / 300.f;
private:
+
+
static RigidBodyWorld* m_rigidBodyWorldInstance;
///
diff --git a/Source/DynamicalModels/ObjectModels/imstkSPHKernels.h b/Source/DynamicalModels/ObjectModels/imstkSPHKernels.h
index 3bc038819f4423d241c8c84bacdf4a043107c3f7..7b0030908c6dc951e14e79880563d32f94cde31d 100644
--- a/Source/DynamicalModels/ObjectModels/imstkSPHKernels.h
+++ b/Source/DynamicalModels/ObjectModels/imstkSPHKernels.h
@@ -50,7 +50,10 @@ public:
m_radius = radius;
m_radius2 = m_radius * m_radius;
+#pragma warning(push)
+#pragma warning(disable:4127)
if (N == 2)
+#pragma warning(pop)
{
m_k = Real(4.0) / (PI * std::pow(m_radius, 8));
m_l = -Real(24.0) / (PI * std::pow(m_radius, 8));
@@ -152,7 +155,10 @@ public:
m_radius = radius;
m_radius2 = m_radius * m_radius;
+#pragma warning(push)
+#pragma warning(disable:4127)
if (N == 2)
+#pragma warning(pop)
{
const auto radius5 = std::pow(m_radius, 5);
m_k = Real(10.0) / (PI * radius5);
@@ -234,7 +240,10 @@ public:
m_radius = radius;
m_radius2 = m_radius * m_radius;
+#pragma warning(push)
+#pragma warning(disable:4127)
CHECK(N != 2) << "Unimplemented function";
+#pragma warning(pop)
m_k = Real(32.0) / (PI * std::pow(m_radius, 9));
m_c = std::pow(m_radius, 6) / Real(64.0);
diff --git a/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp b/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
index 05ea0523ee68e202b3eef71df2405d8c016484b0..31e2efc2794b3d8dc1c9b83bb564550210de5673 100644
--- a/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
@@ -254,7 +254,7 @@ SPHModel::normalizeDensity()
if (m_modelParameters->m_bDensityWithBoundary)
{
- const auto& BDNeighborList = getState().getBoundaryNeighborLists()[p];
+ //const auto& BDNeighborList = getState().getBoundaryNeighborLists()[p];
#if defined(DEBUG) || defined(_DEBUG) || !defined(NDEBUG)
LOG_IF(FATAL, (fluidNeighborList.size() + BDNeighborList.size() != neighborInfo.size()))
<< "Invalid neighborInfo computation";
diff --git a/Source/Geometry/Decal/imstkDecal.cpp b/Source/Geometry/Decal/imstkDecal.cpp
index 29fcb147c3a7b8ae200f6da7ffb6434e2eada575..a037fc8257da20daddfc4c0bbffd8123d07c2768 100644
--- a/Source/Geometry/Decal/imstkDecal.cpp
+++ b/Source/Geometry/Decal/imstkDecal.cpp
@@ -40,7 +40,7 @@ Decal::print() const
double
Decal::getVolume() const
{
- return m_dimensions.x * m_dimensions.y * m_dimensions.z;
+ return (double)m_dimensions.x * (double)m_dimensions.y * (double)m_dimensions.z;
}
void
@@ -49,8 +49,11 @@ Decal::applyScaling(const double s)
m_dimensions *= s;
}
+#pragma warning(push)
+#pragma warning( disable : 4100 )
void
Decal::updateDecal(glm::mat4& viewMatrix)
+#pragma warning(pop)
{
glm::mat4 transform;
diff --git a/Source/Geometry/Decal/imstkDecal.h b/Source/Geometry/Decal/imstkDecal.h
index bbf872e0d9cce7f9d047071a187c5bb40a1d0a33..780bf247ebff04a2ffbfc7d530128bc9476b80e2 100644
--- a/Source/Geometry/Decal/imstkDecal.h
+++ b/Source/Geometry/Decal/imstkDecal.h
@@ -21,9 +21,12 @@
#pragma once
+#pragma warning( push )
+#pragma warning( disable : 4201 )
#include "glm/glm.hpp"
#include "glm/gtc/matrix_transform.hpp"
#include "glm/gtc/quaternion.hpp"
+#pragma warning( pop )
#include "imstkMath.h"
#include "imstkAnalyticalGeometry.h"
@@ -47,6 +50,7 @@ public:
///
/// \brief Update decal transforms
+ /// \todo clear warning C4100
///
void updateDecal(glm::mat4& viewMatrix);
diff --git a/Source/Geometry/Decal/imstkDecalPool.h b/Source/Geometry/Decal/imstkDecalPool.h
index 1a2ceed70095612fbe10a3ba4145c10c14bb3714..83acdf8d571719b834143abc6f92ae120eeff203 100644
--- a/Source/Geometry/Decal/imstkDecalPool.h
+++ b/Source/Geometry/Decal/imstkDecalPool.h
@@ -58,9 +58,12 @@ protected:
std::deque<std::shared_ptr<Decal>> m_orderedDecals;
std::deque<std::shared_ptr<Decal>> m_freeDecals;
+#pragma warning( push )
+#pragma warning( disable : 4100 )
void applyTranslation(const Vec3d t) override {}
void applyRotation(const Mat3d r) override {}
void applyScaling(const double s) override {}
+#pragma warning( push )
virtual void updatePostTransformData() const override {}
unsigned int m_maxNumDecals;
diff --git a/Source/Geometry/Mesh/imstkSurfaceMesh.cpp b/Source/Geometry/Mesh/imstkSurfaceMesh.cpp
index 01fdbca079974756fa8f3d38be09904b1d016dcf..4cf59846585bd02e82179b9ee3e23b75f571bd84 100644
--- a/Source/Geometry/Mesh/imstkSurfaceMesh.cpp
+++ b/Source/Geometry/Mesh/imstkSurfaceMesh.cpp
@@ -149,7 +149,7 @@ SurfaceMesh::computeTrianglesNormals()
}
bool hasUVs = this->hasPointDataArray(m_defaultTCoords);
- const StdVectorOfVectorf* UVs;
+ const StdVectorOfVectorf* UVs = nullptr;
if (hasUVs)
{
@@ -258,14 +258,14 @@ SurfaceMesh::optimizeForDataLocality()
// First find the list of triangles a given vertex is part of
std::vector<std::vector<size_t>> vertexNeighbors;
vertexNeighbors.resize(this->getNumVertices());
- size_t triId = 0;
+ size_t triangleId = 0;
for (const auto& tri : this->getTrianglesVertices())
{
- vertexNeighbors[tri[0]].push_back(triId);
- vertexNeighbors[tri[1]].push_back(triId);
- vertexNeighbors[tri[2]].push_back(triId);
+ vertexNeighbors[tri[0]].push_back(triangleId);
+ vertexNeighbors[tri[1]].push_back(triangleId);
+ vertexNeighbors[tri[2]].push_back(triangleId);
- triId++;
+ triangleId++;
}
std::vector<TriangleArray> optimizedConnectivity;
@@ -637,11 +637,11 @@ SurfaceMesh::markPointsInsideAndOut(const StdVectorOfVec3d& coords)
auto intersectTriangle = [](const Vec3d& xyz, const Vec3d& xyz0, const Vec3d& xyz1, const Vec3d& xyz2, const Vec3d& dir)
{
// const double eps = 1e-15;
- const double eps = std::numeric_limits<double>::epsilon();
- Vec3d edge0 = xyz1 - xyz0;
- Vec3d edge1 = xyz2 - xyz0;
- Vec3d pvec = dir.cross(edge1);
- double det = edge0.dot(pvec);
+ constexpr const double eps = std::numeric_limits<double>::epsilon();
+ Vec3d edge0 = xyz1 - xyz0;
+ Vec3d edge1 = xyz2 - xyz0;
+ Vec3d pvec = dir.cross(edge1);
+ double det = edge0.dot(pvec);
if (det > -eps && det < eps)
{
diff --git a/Source/Geometry/Mesh/imstkTetrahedralMesh.cpp b/Source/Geometry/Mesh/imstkTetrahedralMesh.cpp
index f0aa462fe57d3d6a31c5ef7763d97a8097f316cd..c05812d25a412bff6c6311f9ca098733a5b7ee9b 100644
--- a/Source/Geometry/Mesh/imstkTetrahedralMesh.cpp
+++ b/Source/Geometry/Mesh/imstkTetrahedralMesh.cpp
@@ -152,7 +152,7 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh,
{
surfaceTri.push_back(triArray { { a, b, c } });
surfaceTriTet.push_back(tetId);
- tetRemainingVert.push_back(3 - t);
+ tetRemainingVert.push_back((size_t)(3 - t));
}
else
{
@@ -460,9 +460,9 @@ TetrahedralMesh::createTetrahedralMeshCover(std::shared_ptr<SurfaceMesh> surfMes
{
const auto& xyz = surfMesh->getVertexPosition(i);
// find the hex that encloses the point;
- size_t idX = (xyz[0] - aabbMin[0]) / h[0];
- size_t idY = (xyz[1] - aabbMin[1]) / h[1];
- size_t idZ = (xyz[2] - aabbMin[2]) / h[2];
+ size_t idX = (size_t)((xyz[0] - aabbMin[0]) / h[0]);
+ size_t idY = (size_t)((xyz[1] - aabbMin[1]) / h[1]);
+ size_t idZ = (size_t)((xyz[2] - aabbMin[2]) / h[2]);
size_t hexId = idX + idY * nx + idZ * nx * ny;
// the index range of tets inside the enclosing hex
diff --git a/Source/Geometry/Mesh/imstkVolumetricMesh.h b/Source/Geometry/Mesh/imstkVolumetricMesh.h
index 4c2e15dab4e39c4a2850f0f59a46dddf266358e3..ec274ffe7e76a5f212d2d764ebe1365d92bd2e1d 100644
--- a/Source/Geometry/Mesh/imstkVolumetricMesh.h
+++ b/Source/Geometry/Mesh/imstkVolumetricMesh.h
@@ -26,8 +26,11 @@
#include "imstkPointSet.h"
#include "imstkSurfaceMesh.h"
+#pragma warning( push )
+#pragma warning( disable : 4458 )
// Vega
#include "volumetricMesh.h"
+#pragma warning( pop )
namespace imstk
{
diff --git a/Source/Geometry/Particles/imstkRenderParticles.h b/Source/Geometry/Particles/imstkRenderParticles.h
index 923c41fb5de64de75669fe6b1e798e297e29f7b9..6f4b6980bb12f0311f99b47ae1561815f83b4e03 100644
--- a/Source/Geometry/Particles/imstkRenderParticles.h
+++ b/Source/Geometry/Particles/imstkRenderParticles.h
@@ -25,7 +25,10 @@
#include <climits>
#include <memory>
+#pragma warning( push )
+#pragma warning( disable : 4201 )
#include "glm/glm.hpp"
+#pragma warning( pop )
#include "imstkGeometry.h"
#include "imstkMath.h"
@@ -124,9 +127,13 @@ protected:
glm::vec2 m_vertexUVs[4];
glm::ivec3 m_triangles[2];
- void applyTranslation(const Vec3d t) override {}
- void applyRotation(const Mat3d r) override {}
- void applyScaling(const double s) override {}
+#pragma warning( push )
+#pragma warning( disable : 4100 )
+ void applyTranslation(const Vec3d t) override { LOG(WARNING) << "applyTranslation Not implemented!";}
+ void applyRotation(const Mat3d r) override { LOG(WARNING) << "applyRotation Not implemented!"; }
+ void applyScaling(const double s) override { LOG(WARNING) << "applyScaling Not implemented!"; }
+#pragma warning( pop )
+
virtual void updatePostTransformData() const override {}
};
}
diff --git a/Source/Geometry/Reader/imstkMSHMeshIO.cpp b/Source/Geometry/Reader/imstkMSHMeshIO.cpp
index 6376fda639a8608413d477ae2184e0e62cd2eaef..a2480cff4c43337875c6caea450d378aed68cc42 100644
--- a/Source/Geometry/Reader/imstkMSHMeshIO.cpp
+++ b/Source/Geometry/Reader/imstkMSHMeshIO.cpp
@@ -41,18 +41,18 @@ MSHMeshIO::read(const std::string& filePath, const MeshFileType meshType)
// based on the format provided on
// http://www.manpagez.com/info/gmsh/gmsh-2.2.6/gmsh_63.php
- size_t nNodes; // number-of-nodes
- size_t nElements; // number-of-elements
- std::vector<size_t> nodeIDs; // number assigned to each node (node number)
- StdVectorOfVec3d nodesCoords; // nodes coordinates
- std::vector<size_t> tetrahedronIDs; // tet elements IDs
- std::vector<size_t> hexahedronIDs; // hex elements IDs
- std::vector<TetrahedralMesh::TetraArray> tetrahedronConnectivity; // tet element connectivity
- std::vector<HexahedralMesh::HexaArray> hexahedronConnectivity; // hex element connectivity
- std::map<ElemType, size_t> elemCountMap; // map of the element types to their number of counts
- std::string subString; // to store space separated strings in a line
- std::string mshLine; // a msh file line
- std::stringstream mshLineStream; // sting stream object which represent a line in the .msh file
+ size_t nNodes = 0; // number-of-nodes
+ size_t nElements = 0; // number-of-elements
+ std::vector<size_t> nodeIDs; // number assigned to each node (node number)
+ StdVectorOfVec3d nodesCoords; // nodes coordinates
+ std::vector<size_t> tetrahedronIDs; // tet elements IDs
+ std::vector<size_t> hexahedronIDs; // hex elements IDs
+ std::vector<TetrahedralMesh::TetraArray> tetrahedronConnectivity; // tet element connectivity
+ std::vector<HexahedralMesh::HexaArray> hexahedronConnectivity; // hex element connectivity
+ std::map<ElemType, size_t> elemCountMap; // map of the element types to their number of counts
+ std::string subString; // to store space separated strings in a line
+ std::string mshLine; // a msh file line
+ std::stringstream mshLineStream; // sting stream object which represent a line in the .msh file
// Open the file
std::ifstream mshStream(filePath);
@@ -252,8 +252,8 @@ MSHMeshIO::read(const std::string& filePath, const MeshFileType meshType)
hexahedronConnectivity.resize(elemCountMap[ElemType::hexahedron]);
size_t tetElemCount = 0;
size_t hexElemCount = 0;
- TetrahedralMesh::TetraArray tmp_4arr; // Temp array to store the connectivity of a tet element (if any)
- HexahedralMesh::HexaArray tmp_8arr; // Temp array to store the connectivity of a hex element (if any)
+ TetrahedralMesh::TetraArray tmp_4arr = {}; // Temp array to store the connectivity of a tet element (if any)
+ HexahedralMesh::HexaArray tmp_8arr = {}; // Temp array to store the connectivity of a hex element (if any)
// Look for "$Elements" field
mshStream.clear();
mshStream.seekg(0, std::ios::beg);
diff --git a/Source/Geometry/Reader/imstkVTKMeshIO.cpp b/Source/Geometry/Reader/imstkVTKMeshIO.cpp
index f8b9ec312868035d123effba2c146ef142d30522..99994fde02fd94e46fd9a19deaa60e11e69c197d 100644
--- a/Source/Geometry/Reader/imstkVTKMeshIO.cpp
+++ b/Source/Geometry/Reader/imstkVTKMeshIO.cpp
@@ -163,15 +163,14 @@ VTKMeshIO::readVtkGenericFormatData(const std::string& filePath)
{
return GeometryUtils::convertVtkPolyDataToSurfaceMesh(vtkMesh);
}
- else if (vtkUnstructuredGrid* vtkMesh = reader->GetUnstructuredGridOutput())
+
+ if (vtkUnstructuredGrid* vtkMesh = reader->GetUnstructuredGridOutput())
{
return GeometryUtils::convertVtkUnstructuredGridToVolumetricMesh(vtkMesh);
}
- else
- {
- LOG(FATAL) << "VTKMeshIO::readVtkGenericFormatData error: could not read with VTK reader.";
- return nullptr;
- }
+
+ LOG(FATAL) << "VTKMeshIO::readVtkGenericFormatData error: could not read with VTK reader.";
+ return nullptr;
}
template<typename ReaderType>
diff --git a/Source/Geometry/imstkGeometry.cpp b/Source/Geometry/imstkGeometry.cpp
index 2444e2696d5e14109f6381ce7f2791601687fa70..b03022d1697b224a03cdc00f659482f5153d41bd 100644
--- a/Source/Geometry/imstkGeometry.cpp
+++ b/Source/Geometry/imstkGeometry.cpp
@@ -258,8 +258,10 @@ Geometry::getTypeName() const
case Type::DecalPool: return "DecalPool";
case Type::RenderParticles: return "RenderParticles";
case Type::ImageData: return "ImageData";
+ default:
+ LOG(FATAL) << "Mesh type to string has not been completely implemented";
+ return "";
}
- LOG(FATAL) << "Mesh type to string has not been completely implemented";
}
bool
diff --git a/Source/Geometry/imstkGeometry.h b/Source/Geometry/imstkGeometry.h
index 1f30549765faacb4460c3ba1f5f8d83d2b934af8..fc9c0993c012b9a769dd7481b71b1e56559f84cf 100644
--- a/Source/Geometry/imstkGeometry.h
+++ b/Source/Geometry/imstkGeometry.h
@@ -205,7 +205,7 @@ protected:
virtual void applyTranslation(const Vec3d t) = 0;
virtual void applyRotation(const Mat3d r) = 0;
virtual void applyScaling(const double s) = 0;
- virtual void updatePostTransformData() const const = 0;
+ virtual void updatePostTransformData() const = 0;
Type m_type; ///> Type of geometry
std::string m_name; ///> Unique name for each geometry
diff --git a/Source/Rendering/GUIOverlay/imstkGUIWidget.cpp b/Source/Rendering/GUIOverlay/imstkGUIWidget.cpp
index 0a85019246ae8665d16199984351ccf6ebe44446..51e8711b8bf27403c3cc70094dff3507896d4b88 100644
--- a/Source/Rendering/GUIOverlay/imstkGUIWidget.cpp
+++ b/Source/Rendering/GUIOverlay/imstkGUIWidget.cpp
@@ -85,10 +85,5 @@ Widget::isVisible()
{
return m_visible;
}
-
-void
-Widget::render(const bool inWindow)
-{
-}
} // GUI
} // imstk
diff --git a/Source/Rendering/GUIOverlay/imstkGUIWidget.h b/Source/Rendering/GUIOverlay/imstkGUIWidget.h
index a1d2706c4c122de8cc07bcd2faa3fa26a5071d10..75f425a5e01187ad3973dd58102cb5fbb9ffddf7 100644
--- a/Source/Rendering/GUIOverlay/imstkGUIWidget.h
+++ b/Source/Rendering/GUIOverlay/imstkGUIWidget.h
@@ -98,7 +98,7 @@ public:
///
/// \brief Render
///
- virtual void render(const bool inWindow = false);
+ virtual void render(const bool inWindow = false)=0;
protected:
Widget() = delete;
diff --git a/Source/Rendering/GUIOverlay/imstkGUIWindow.cpp b/Source/Rendering/GUIOverlay/imstkGUIWindow.cpp
index e34f0ac08f2c9738bce1a1f6c3a1c45e82c2f7cd..ab5b6b8c52cfcde208225a76022dbce7dc4f5357 100644
--- a/Source/Rendering/GUIOverlay/imstkGUIWindow.cpp
+++ b/Source/Rendering/GUIOverlay/imstkGUIWindow.cpp
@@ -50,8 +50,12 @@ Window::clear()
m_widgets.clear();
}
+#pragma warning(push)
+#pragma warning( disable : 4100 )
+/// \todo clear C4100
void
Window::render(const bool inWindow)
+#pragma warning(pop)
{
ImGui::SetNextWindowPos(ImVec2(m_position[0], m_position[1]));
ImGui::SetNextWindowSize(ImVec2(m_width, m_height));
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKCylinderRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKCylinderRenderDelegate.cpp
index b36b12e1a20f816eb949263c2132df3bedc16805..4947eeee17582d1e307e543ea5cf7e6cd2f69386 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKCylinderRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKCylinderRenderDelegate.cpp
@@ -30,7 +30,7 @@ VTKCylinderRenderDelegate::VTKCylinderRenderDelegate(std::shared_ptr<VisualModel
auto geometry = std::static_pointer_cast<Cylinder>(visualModel->getGeometry());
- Geometry::DataType type = Geometry::DataType::PreTransform;
+ //Geometry::DataType type = Geometry::DataType::PreTransform;
cylinderSource = vtkSmartPointer<vtkCylinderSource>::New();
cylinderSource->SetCenter(0., 0., 0.);
cylinderSource->SetRadius(1.);
diff --git a/Source/Rendering/imstkRenderer.cpp b/Source/Rendering/imstkRenderer.cpp
index 5c3bd5a60bfbe6b604da4d51f85c1b9b48f4b23c..1a21d84bc50086e1262370b69f0c3d773d2a23ef 100644
--- a/Source/Rendering/imstkRenderer.cpp
+++ b/Source/Rendering/imstkRenderer.cpp
@@ -26,6 +26,7 @@ namespace imstk
void
Renderer::setMode(const Renderer::Mode mode, const bool enableVR)
{
+ m_VrEnabled = enableVR;
m_currentMode = mode;
}
diff --git a/Source/Rendering/imstkRenderer.h b/Source/Rendering/imstkRenderer.h
index b34ed8574cd85c7d50bf2764728df0ad104ae59b..6d8f9338cfe5a2b18c7440a4ab4e113ba1f2eaf3 100644
--- a/Source/Rendering/imstkRenderer.h
+++ b/Source/Rendering/imstkRenderer.h
@@ -34,7 +34,7 @@ public:
///
/// \brief Enumerations for the render mode
///
- enum Mode
+ enum class Mode
{
EMPTY,
DEBUG,
@@ -57,6 +57,7 @@ public:
virtual void updateBackground(const Vec3d color1, const Vec3d color2 = Vec3d::Zero(), const bool gradientBackground = false) = 0;
protected:
+ bool m_VrEnabled = false;
Renderer::Mode m_currentMode = Renderer::Mode::EMPTY;
};
}
diff --git a/Source/Rendering/vtkCapsuleSource.cpp b/Source/Rendering/vtkCapsuleSource.cpp
index c28b98256471cd06ec470a9b5705d1c52ed610ba..db6a43ae0c0476feb2fb67be0213698a59810e6a 100644
--- a/Source/Rendering/vtkCapsuleSource.cpp
+++ b/Source/Rendering/vtkCapsuleSource.cpp
@@ -402,12 +402,15 @@ vtkCapsuleSource::PrintSelf(ostream& os, vtkIndent indent)
}
//----------------------------------------------------------------------------
+#pragma warning(push)
+#pragma warning(disable : 4100)
int
vtkCapsuleSource::RequestInformation(
vtkInformation* vtkNotUsed(request),
vtkInformationVector** vtkNotUsed(inputVector),
vtkInformationVector* outputVector)
{
+ std::cout << "WARNING-vtkCapsuleSource::RequestInformation is not implemented!" << std::endl;
// get the info object
/*vtkInformation *outInfo = outputVector->GetInformationObject(0);
@@ -425,3 +428,5 @@ vtkCapsuleSource::RequestInformation(
return 1;
}
+
+#pragma warning(pop)
diff --git a/Source/Scene/imstkScene.cpp b/Source/Scene/imstkScene.cpp
index e3bd72fbeff62992d82c2a18171803987e5cb04d..8f18f1377c2af347d2deea8684b6cd0a31b164c1 100644
--- a/Source/Scene/imstkScene.cpp
+++ b/Source/Scene/imstkScene.cpp
@@ -364,7 +364,7 @@ Scene::advance(const double dt)
{
// PhysX update; move this to solver
auto physxScene = RigidBodyWorld::getInstance()->m_Scene;
- physxScene->simulate(1.0f / 300.0f); // TODO: update the time step
+ physxScene->simulate(RigidBodyWorld::getInstance()->getTimeStep()); // TODO: update the time step
physxScene->fetchResults(true);
// Reset Contact forces to 0
diff --git a/Source/SimulationManager/VTKRenderer/imstkOpenVRCommand.cpp b/Source/SimulationManager/VTKRenderer/imstkOpenVRCommand.cpp
index 4c39e35b17cafb6d497db5ad2fc89e5620a31727..45f42ec848139d50c54e54bf004caa7f34bbc0ff 100644
--- a/Source/SimulationManager/VTKRenderer/imstkOpenVRCommand.cpp
+++ b/Source/SimulationManager/VTKRenderer/imstkOpenVRCommand.cpp
@@ -35,6 +35,11 @@ OpenVRCommand::Execute(
unsigned long eventId,
void* callData)
{
+ /// \todo Clear warnings caller, callData are not used!
+ // prevent warnings
+ caller;
+ callData;
+
if (!m_simManager)
{
return;
@@ -125,7 +130,7 @@ OpenVRCommand::Execute(
// override DoOneEvent() by calling itself and then updateRenderDelegates()
if (eventId == vtkCommand::StartEvent)
{
- SimulationStatus status = m_simManager->getStatus();
+ //SimulationStatus status = m_simManager->getStatus();
#ifndef iMSTK_USE_Vulkan
std::dynamic_pointer_cast<VTKRenderer>(m_simManager->getViewer()->getActiveRenderer())->updateRenderDelegates();
@@ -133,7 +138,7 @@ OpenVRCommand::Execute(
}
else
{
- int a = eventId;
+ //int a = eventId;
}
}
} // imstk
diff --git a/Source/SimulationManager/imstkViewer.cpp b/Source/SimulationManager/imstkViewer.cpp
index 18c7be2727c5525ff923d46e4f097e9004818eb5..690953f737748cd900606db28ae0e9c6a3379ee0 100644
--- a/Source/SimulationManager/imstkViewer.cpp
+++ b/Source/SimulationManager/imstkViewer.cpp
@@ -32,14 +32,9 @@ Viewer::getActiveScene() const
const std::shared_ptr<Renderer>&
Viewer::getActiveRenderer() const
{
- if (m_activeScene)
- {
- return m_rendererMap.at(m_activeScene);
- }
- else
- {
- return nullptr;
- }
+ CHECK(m_activeScene) << "no active scene!";
+
+ return m_rendererMap.at(m_activeScene);
}
const bool&
diff --git a/Source/Solvers/imstkConjugateGradient.h b/Source/Solvers/imstkConjugateGradient.h
index dc190c5f8770221b1f7c69b6ef274eb927981f35..357e02e88f0b88f237d50cb9af3ce9d6a06091cd 100644
--- a/Source/Solvers/imstkConjugateGradient.h
+++ b/Source/Solvers/imstkConjugateGradient.h
@@ -54,7 +54,7 @@ public:
///
/// \brief Do one iteration of the method.
///
- void iterate(Vectord& x, bool updateResidual = true) override {};
+ //void iterate(Vectord& x, bool updateResidual = true) override {};
///
/// \brief Solve the system of equations.
diff --git a/Source/Solvers/imstkDirectLinearSolver.h b/Source/Solvers/imstkDirectLinearSolver.h
index fb82df0d2fb96702af3f1b60e0a4571f7bec3abc..b3d70a0b245333ad552162b7916791885a2468ef 100644
--- a/Source/Solvers/imstkDirectLinearSolver.h
+++ b/Source/Solvers/imstkDirectLinearSolver.h
@@ -21,8 +21,11 @@
#pragma once
+#pragma warning( push )
+#pragma warning( disable : 4127 )
#include <Eigen/Sparse>
#include <Eigen/SparseLU>
+#pragma warning( pop )
// iMSTK includes
#include "imstkLinearSolver.h"
diff --git a/Source/Solvers/imstkGaussSeidel.h b/Source/Solvers/imstkGaussSeidel.h
index 0def124314ec17bc174f201e143cf39f9d47dd07..875338f37e9759c7d43927b856658291292bb783 100644
--- a/Source/Solvers/imstkGaussSeidel.h
+++ b/Source/Solvers/imstkGaussSeidel.h
@@ -54,7 +54,7 @@ public:
///
/// \brief Do one iteration of the method.
///
- void iterate(Vectord& x, bool updateResidual = true) override {};
+ //void iterate(Vectord& x, bool updateResidual = true) override {};
///
/// \brief Gauss-Seidel solver
diff --git a/Source/Solvers/imstkIterativeLinearSolver.cpp b/Source/Solvers/imstkIterativeLinearSolver.cpp
index 4d3751abcfb3611e654f089e4ba683799c784fd4..ab6f3bec3cc1d2b82c4773f165a0407db6f6c514 100644
--- a/Source/Solvers/imstkIterativeLinearSolver.cpp
+++ b/Source/Solvers/imstkIterativeLinearSolver.cpp
@@ -64,9 +64,13 @@ IterativeLinearSolver::print() const
LOG(INFO) << "Solver type (direct/iterative): Iterative";
}
+
void
IterativeLinearSolver::solve(Vectord& x)
{
+ LOG(WARNING) << "IterativeLinearSolver::solve is not implemented!";
+ x;
+ /*
if (!m_linearSystem)
{
LOG(WARNING) << "IterativeLinearSolver::solve: The linear system should be assigned before solving!";
@@ -85,5 +89,6 @@ IterativeLinearSolver::solve(Vectord& x)
this->iterate(x);
}
+ */
}
} //imstk
\ No newline at end of file
diff --git a/Source/Solvers/imstkIterativeLinearSolver.h b/Source/Solvers/imstkIterativeLinearSolver.h
index 67b928df275aae2fc86faf509f03ea4b1245e83b..abd69933df28673600c26c2ebae4c2bb8cda3cd1 100644
--- a/Source/Solvers/imstkIterativeLinearSolver.h
+++ b/Source/Solvers/imstkIterativeLinearSolver.h
@@ -41,7 +41,7 @@ public:
///
/// \brief Do one iteration of the method.
///
- virtual void iterate(Vectord& x, bool updateResidual = true) = 0;
+ //virtual void iterate(Vectord& x, bool updateResidual = true) = 0;
///
/// \brief set/get the maximum number of iterations for the iterative solver.
@@ -68,7 +68,7 @@ public:
///
/// \brief Solve the linear system using Gauss-Seidel iterations.
///
- virtual void solve(Vectord& x) override;
+ virtual void solve(Vectord& x);
///
/// \brief Returns true if the solver is iterative
diff --git a/Source/Solvers/imstkJacobi.h b/Source/Solvers/imstkJacobi.h
index 588cd5935c2ccfbbe2efc7554915fb87eba70087..22a76b792a26c807f927dfef7e44821803e9d6a1 100644
--- a/Source/Solvers/imstkJacobi.h
+++ b/Source/Solvers/imstkJacobi.h
@@ -54,7 +54,7 @@ public:
///
/// \brief Do one iteration of the method.
///
- void iterate(Vectord& x, bool updateResidual = true) override {};
+ //void iterate(Vectord& x, bool updateResidual = true) override {};
///
/// \brief Jacobi solver
@@ -131,7 +131,7 @@ public:
private:
- std::vector<LinearProjectionConstraint>* m_FixedLinearProjConstraints;
- std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints;
+ std::vector<LinearProjectionConstraint>* m_FixedLinearProjConstraints = nullptr;
+ std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints = nullptr;
};
} // imstk
diff --git a/Source/Solvers/imstkNewtonSolver.cpp b/Source/Solvers/imstkNewtonSolver.cpp
index ee0972d62d48d3ad9875b34aa405de8a8c707622..b3468f991d559c0678a9ce71d31a942764a0af5f 100644
--- a/Source/Solvers/imstkNewtonSolver.cpp
+++ b/Source/Solvers/imstkNewtonSolver.cpp
@@ -97,7 +97,7 @@ NewtonSolver::solve()
auto& u = m_nonLinearSystem->getUnknownVector();
Vectord du = u; // make this a class member in future
- double error0, error;
+ double error0 = MAX_D, error = MAX_D;
double epsilon = m_relativeTolerance * m_relativeTolerance;
for (iterNum = 0; iterNum < m_maxIterations; ++iterNum)
{
diff --git a/Source/Solvers/imstkNewtonSolver.h b/Source/Solvers/imstkNewtonSolver.h
index 3cce604f281fe8e6ec1c0777db796dca5c898e1f..047f58392e255641d9034d534b8a4d69fc9c677d 100644
--- a/Source/Solvers/imstkNewtonSolver.h
+++ b/Source/Solvers/imstkNewtonSolver.h
@@ -191,10 +191,9 @@ public:
///
/// \brief Set the Newton solver to be fully implicit
///
- virtual void setToFullyImplicit(const int maxNumIter = 50) override
+ virtual void setToFullyImplicit() override
{
m_isSemiImplicit = false;
- m_maxIterations = maxNumIter;
}
///
diff --git a/Source/Solvers/imstkNonLinearSolver.h b/Source/Solvers/imstkNonLinearSolver.h
index 34b498cd589247e15a62e4dc11847732d40afafa..3de7c1b4fae6784f7874007d7e18262f6443ee36 100644
--- a/Source/Solvers/imstkNonLinearSolver.h
+++ b/Source/Solvers/imstkNonLinearSolver.h
@@ -118,7 +118,7 @@ public:
///
/// \brief Set the Newton solver to be fully implicit
///
- virtual void setToFullyImplicit(const int maxNumIter = 50)
+ virtual void setToFullyImplicit()
{
m_isSemiImplicit = false;
}
diff --git a/Source/Solvers/imstkSOR.h b/Source/Solvers/imstkSOR.h
index e9ab1a00f5243fbbebad1727d93788a70695a64a..25f049239578a667e379a70ffbf0930f43ebe15d 100644
--- a/Source/Solvers/imstkSOR.h
+++ b/Source/Solvers/imstkSOR.h
@@ -41,7 +41,7 @@ public:
///
/// \brief Constructors/Destructor
///
- SOR(const double relaxationFactor = 0.5) { m_type = Type::SuccessiveOverRelaxation; };
+ SOR(const double relaxationFactor = 0.5) : m_relaxationFactor(relaxationFactor) { m_type = Type::SuccessiveOverRelaxation; };
SOR(const SparseMatrixd& A, const Vectord& rhs);
~SOR() = default;
@@ -54,7 +54,7 @@ public:
///
/// \brief Do one iteration of the method.
///
- void iterate(Vectord& x, bool updateResidual = true) override {};
+ //void iterate(Vectord& x, bool updateResidual = true) override {};
///
/// \brief Gauss-Seidel solver
@@ -137,7 +137,7 @@ public:
private:
double m_relaxationFactor = 0.5;
- std::vector<LinearProjectionConstraint>* m_FixedLinearProjConstraints;
- std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints;
+ std::vector<LinearProjectionConstraint>* m_FixedLinearProjConstraints = nullptr;
+ std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints = nullptr;
};
} // imstk
diff --git a/Source/apiUtilities/imstkPlotterUtils.h b/Source/apiUtilities/imstkPlotterUtils.h
index 64d3fabece1a5723bd03a781b1d083ffd017b0b9..367d3c37c227588176f4702ef5d90fafd048e332 100644
--- a/Source/apiUtilities/imstkPlotterUtils.h
+++ b/Source/apiUtilities/imstkPlotterUtils.h
@@ -29,6 +29,8 @@
#include "imstkMath.h"
#include "g3log/g3log.hpp"
+#pragma warning( push )
+#pragma warning( disable : 4505 ) // Warning C4505 will vanish upon calls to the following functions
namespace imstk
{
namespace plotterutils
@@ -169,3 +171,5 @@ writePlotterVecVsVecMatPlotlib(Vectord& x, Vectord& y, const char* fileName)
}
} // plotters
} // imstk
+
+#pragma warning( pop )