BUG: Do not set the object controller offsets from the objects

Base/Collision/imstkInteractionPair.cpp

@@ -127,7 +127,6 @@ InteractionPair::computeCollisionData()
         LOG(WARNING) << "InteractionPair::computeCollisionData error: interaction not valid.";
         return;
     }
-
     m_colDetect->computeCollisionData();
 }
 

Base/SceneElements/Controllers/imstkLaparoscopicToolController.cpp

@@ -30,14 +30,6 @@
 
 namespace imstk
 {
-void
-LaparoscopicToolController::initOffsets()
-{
-    m_trackingController->setTranslationOffset(m_shaft->getMasterGeometry()->getTranslation());
-    m_trackingController->setRotationOffset(Quatd(m_shaft->getMasterGeometry()->getRotation()));
-
-    m_trackingController->getDeviceClient()->setButtonsEnabled(true);
-}
 
 void
 LaparoscopicToolController::updateControlledObjects()

Base/SceneElements/Controllers/imstkLaparoscopicToolController.h

@@ -53,7 +53,10 @@ public:
         m_trackingController(trackingController),
         m_shaft(shaft),
         m_upperJaw(upperJaw),
-        m_lowerJaw(lowerJaw) {}
+        m_lowerJaw(lowerJaw)
+    {
+        m_trackingController->getDeviceClient()->setButtonsEnabled(true);
+    }
 
     LaparoscopicToolController() = delete; //not allowed for now
 
@@ -62,11 +65,6 @@ public:
     ///
     ~LaparoscopicToolController() = default;
 
-    ///
-    /// \brief Initialize offset based on object geometry
-    ///
-    void initOffsets() override;
-
     ///
     /// \brief Update controlled laparoscopic tool using latest tracking information
     ///

Base/SceneElements/Controllers/imstkSceneObjectController.cpp

@@ -30,12 +30,6 @@
 
 namespace imstk
 {
-void
-SceneObjectController::initOffsets()
-{
-    m_trackingController->setTranslationOffset(m_sceneObject->getMasterGeometry()->getTranslation());
-    m_trackingController->setRotationOffset(Quatd(m_sceneObject->getMasterGeometry()->getRotation()));
-}
 
 void
 SceneObjectController::updateControlledObjects()

Base/SceneElements/Controllers/imstkSceneObjectController.h

@@ -52,11 +52,6 @@ public:
     ///
     ~SceneObjectController() = default;
 
-    ///
-    /// \brief Initialize offset based on object geometry
-    ///
-    void initOffsets() override;
-
     ///
     /// \brief Update controlled scene object using latest tracking information
     ///

Base/SceneElements/Controllers/imstkSceneObjectControllerBase.h

@@ -38,11 +38,6 @@ public:
     SceneObjectControllerBase() = default;
     ~SceneObjectControllerBase() = default;
 
-    ///
-    /// \brief Initialize offset based on object geometry
-    ///
-    virtual void initOffsets() = 0;
-
     ///
     /// \brief Update controlled scene objects using latest tracking information
     ///

Base/SimulationManager/imstkSceneManager.cpp

@@ -48,12 +48,6 @@ SceneManager::initModule()
         this->startModuleInNewThread(camController);
     }
 
-    // Update objects controlled by the device controllers
-    for (auto controller : m_scene->getSceneObjectControllers())
-    {
-        controller->initOffsets();
-    }
-
     // Init virtual coupling objects offsets
     for (auto obj : m_scene->getSceneObjects())
     {