diff --git a/Base/Collision/CollisionData/imstkCollisionData.h b/Base/Collision/CollisionData/imstkCollisionData.h
index bc93c0c08b27cf69cf4f0af617e6ee381802548c..a68537e97a06880abab1c400d4b78921ebcc55a7 100644
--- a/Base/Collision/CollisionData/imstkCollisionData.h
+++ b/Base/Collision/CollisionData/imstkCollisionData.h
@@ -130,6 +130,14 @@ struct PointTetrahedronCollisionData
WeightsArray BarycentricCoordinates;
};
+struct PickingCollisionData
+{
+ // map of node and point position
+ Vec3d ptPos;
+ size_t nodeId;
+ bool touchStatus;
+};
+
///
/// \struct CollisionData
///
@@ -147,6 +155,7 @@ public:
EEColData.clear();
MAColData.clear();
PTColData.clear();
+ NodePickData.clear();
}
std::vector<PositionDirectionCollisionData> PDColData; ///< Position Direction collision data
@@ -155,6 +164,7 @@ public:
std::vector<EdgeEdgeCollisionData> EEColData; ///< Edge Edge collision data
std::vector<MeshToAnalyticalCollisionData> MAColData; ///< Mesh to analytical collision data
std::vector<PointTetrahedronCollisionData> PTColData; ///< Point Tetrahedron collision data
+ std::vector<PickingCollisionData> NodePickData; ///< List of points that are picked
};
}
diff --git a/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp b/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
index 0404115c54065771313bc6c49d3770ee7d278d6d..15473ad81373979c3f76e46393907d675b62c8cd 100644
--- a/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
+++ b/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
@@ -27,6 +27,7 @@
#include "imstkMeshToSphereCD.h"
#include "imstkMeshToPlaneCD.h"
#include "imstkMeshToMeshCD.h"
+#include "imstkMeshToSpherePickingCD.h"
#include "imstkCollidingObject.h"
#include "imstkPlane.h"
@@ -136,6 +137,21 @@ CollisionDetection::make_collision_detection(const Type& type,
return std::make_shared<MeshToMeshCD>(meshA, meshB, colData);
}
break;
+ case Type::MeshToSpherePicking:
+ {
+ auto mesh = std::dynamic_pointer_cast<Mesh>(objA->getCollidingGeometry());
+ auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
+
+ // Geometries check
+ if (mesh == nullptr || sphere == nullptr)
+ {
+ LOG(WARNING) << "CollisionDetection::make_collision_detection error: "
+ << "invalid object geometries for SphereToSphere collision detection.";
+ return nullptr;
+ }
+ return std::make_shared<MeshToSpherePickingCD>(mesh, sphere, colData);
+ }
+ break;
default:
{
LOG(WARNING) << "CollisionDetection::make_collision_detection error: type not implemented.";
diff --git a/Base/Collision/CollisionDetection/imstkCollisionDetection.h b/Base/Collision/CollisionDetection/imstkCollisionDetection.h
index 90a8f3c2fa05cc1cda18b8bcdacd18618732a639..6864fbaae1a223a504625b8677b93dbce49a70fc 100644
--- a/Base/Collision/CollisionDetection/imstkCollisionDetection.h
+++ b/Base/Collision/CollisionDetection/imstkCollisionDetection.h
@@ -50,7 +50,8 @@ public:
MeshToSphere,
MeshToPlane,
MeshToMesh,
- MeshToCapsule
+ MeshToCapsule,
+ MeshToSpherePicking
};
///
diff --git a/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.cpp b/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..95e721d75870b2f507cf4e36105baf6415c8b29a
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.cpp
@@ -0,0 +1,57 @@
+/*=========================================================================
+
+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 "imstkMeshToSpherePickingCD.h"
+#include "imstkCollisionData.h"
+#include "imstkMesh.h"
+#include "imstkSphere.h"
+
+namespace imstk
+{
+
+void
+MeshToSpherePickingCD::computeCollisionData()
+{
+ // Clear collisionData
+ m_colData.clearAll();
+
+ if (!m_deviceTracker || !m_deviceTracker->getDeviceClient()->getButton(m_buttonId))
+ {
+ return;
+ }
+
+ // Get sphere properties
+ auto spherePos = m_sphere->getPosition();
+ auto radius = m_sphere->getRadius()*m_sphere->getScaling();
+
+ size_t nodeId = 0;
+ for (const auto& p : m_mesh->getVertexPositions())
+ {
+ auto dist = (spherePos - p).norm();
+ if (dist <= radius)
+ {
+ m_colData.NodePickData.push_back({ spherePos - p, nodeId, 0 });
+ }
+ nodeId++;
+ }
+}
+
+}
\ No newline at end of file
diff --git a/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.h b/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.h
new file mode 100644
index 0000000000000000000000000000000000000000..7c2c71123f44458662d239366c51c4ca27a16c4e
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkMeshToSpherePickingCD.h
@@ -0,0 +1,83 @@
+/*=========================================================================
+
+ 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 imstkMeshToSpherePickingCD_h
+#define imstkMeshToSpherePickingCD_h
+
+#include <memory>
+
+#include "imstkCollisionDetection.h"
+#include "imstkDeviceTracker.h"`
+
+namespace imstk
+{
+
+class Mesh;
+class Sphere;
+class CollisionData;
+
+///
+/// \class MeshToSpherePickingCD
+///
+/// \brief Mesh to sphere collision detection while picking
+///
+class MeshToSpherePickingCD : public CollisionDetection
+{
+public:
+
+ ///
+ /// \brief Constructor
+ ///
+ MeshToSpherePickingCD(std::shared_ptr<Mesh> mesh,
+ std::shared_ptr<Sphere> sphere,
+ CollisionData& colData) :
+ CollisionDetection(CollisionDetection::Type::MeshToSphere,
+ colData),
+ m_mesh(mesh),
+ m_sphere(sphere){}
+
+ ///
+ /// \brief Destructor
+ ///
+ ~MeshToSpherePickingCD() = default;
+
+ ///
+ /// \brief Detect collision and compute collision data
+ ///
+ void computeCollisionData() override;
+
+ ///
+ /// \brief Set device tracker and the id of the button
+ ///
+ void setDeviceTrackerAndButton(const std::shared_ptr<imstk::DeviceTracker> devTracker,
+ const unsigned int buttonId = 0){ m_deviceTracker = devTracker; }
+private:
+
+ std::shared_ptr<Mesh> m_mesh; ///> Mesh
+ std::shared_ptr<Sphere> m_sphere; ///> Sphere
+
+ std::shared_ptr<imstk::DeviceTracker> m_deviceTracker; ///> Device tracker to get the button status
+ unsigned int m_buttonId = 0; ///> button id
+};
+
+}
+
+#endif // ifndef imstkMeshToSphereCD_h