Merge branch 'PBD-picking-handling' into 'master'

Pbd Picking Handling & Laparoscopic Tool Updates

See merge request iMSTK/iMSTK!509

Source/Scene/imstkPbdObjectPickingPair.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 "imstkPbdObjectPickingPair.h"
+#include "imstkCDObjectFactory.h"
+#include "imstkCollisionData.h"
+#include "imstkPBDPickingCH.h"
+#include "imstkPbdModel.h"
+#include "imstkPbdObject.h"
+#include "imstkPbdSolver.h"
+#include "imstkTaskGraph.h"
+
+namespace imstk
+{
+// Pbd Collision will be tested before any step of pbd, then resolved after the solve steps of the two objects
+PbdObjectPickingPair::PbdObjectPickingPair(std::shared_ptr<PbdObject> obj1, std::shared_ptr<CollidingObject> obj2,
+                                           CollisionDetection::Type cdType) : CollisionPair(obj1, obj2)
+{
+    // Setup the CD
+    m_colData = std::make_shared<CollisionData>();
+    setCollisionDetection(makeCollisionDetectionObject(cdType, obj1->getCollidingGeometry(), obj2->getCollidingGeometry(), m_colData));
+
+    // Setup the handler
+    std::shared_ptr<PBDPickingCH> ch = std::make_shared<PBDPickingCH>(CollisionHandling::Side::A, m_colData, obj1, obj2);
+    setCollisionHandlingA(ch);
+}
+
+void
+PbdObjectPickingPair::apply()
+{
+    // Add the collision interaction
+    CollisionPair::apply();
+}
+}
\ No newline at end of file

Source/Scene/imstkPbdObjectPickingPair.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.
+
+=========================================================================*/
+
+#pragma once
+
+#include "imstkCollisionPair.h"
+#include "imstkCollisionDetection.h"
+
+namespace imstk
+{
+class PbdObject;
+class PbdSolver;
+
+///
+/// \class PbdObjectCollisionPair
+///
+/// \brief This class defines a collision interaction between two PbdObjects
+///
+class PbdObjectPickingPair : public CollisionPair
+{
+public:
+    PbdObjectPickingPair(std::shared_ptr<PbdObject> obj1, std::shared_ptr<CollidingObject> obj2,
+                         CollisionDetection::Type cdType = CollisionDetection::Type::PointSetToCapsule);
+
+    virtual ~PbdObjectPickingPair() override = default;
+
+    void apply() override;
+
+private:
+    // Pbd defines two interactions (one at CD and one at solver)
+    Inputs  m_solveNodeInputs;
+    Outputs m_solveNodeOutputs;
+};
+}
\ No newline at end of file