diff --git a/Source/CollisionHandling/imstkPbdCollisionHandling.cpp b/Source/CollisionHandling/imstkPbdCollisionHandling.cpp
index e101e9b1435b0f4ed24a29bef0fd99eb7f16ee07..92e1b4fd8799e7d55d293791214705f7f22d5e27 100644
--- a/Source/CollisionHandling/imstkPbdCollisionHandling.cpp
+++ b/Source/CollisionHandling/imstkPbdCollisionHandling.cpp
@@ -70,7 +70,7 @@ getVertex(const CollisionElement& elem, const MeshSide& side)
auto oneToOneMap = dynamic_cast<OneToOneMap*>(side.m_mapPtr);
if (side.m_mapPtr && oneToOneMap != nullptr)
{
- ptId = oneToOneMap->getMapIdx(ptId);
+ ptId = oneToOneMap->getParentVertexId(ptId);
}
results[0] = { &side.m_vertices[ptId], side.m_invMasses[ptId], &side.m_velocities[ptId] };
}
@@ -102,8 +102,8 @@ getEdge(const CollisionElement& elem, const MeshSide& side)
auto oneToOneMap = dynamic_cast<OneToOneMap*>(side.m_mapPtr);
if (side.m_mapPtr && oneToOneMap != nullptr)
{
- v1 = oneToOneMap->getMapIdx(v1);
- v2 = oneToOneMap->getMapIdx(v2);
+ v1 = oneToOneMap->getParentVertexId(v1);
+ v2 = oneToOneMap->getParentVertexId(v2);
}
results[0] = { &side.m_vertices[v1], side.m_invMasses[v1], &side.m_velocities[v1] };
results[1] = { &side.m_vertices[v2], side.m_invMasses[v2], &side.m_velocities[v2] };
@@ -138,9 +138,9 @@ getTriangle(const CollisionElement& elem, const MeshSide& side)
auto oneToOneMap = dynamic_cast<OneToOneMap*>(side.m_mapPtr);
if (side.m_mapPtr && oneToOneMap != nullptr)
{
- v1 = oneToOneMap->getMapIdx(v1);
- v2 = oneToOneMap->getMapIdx(v2);
- v3 = oneToOneMap->getMapIdx(v3);
+ v1 = oneToOneMap->getParentVertexId(v1);
+ v2 = oneToOneMap->getParentVertexId(v2);
+ v3 = oneToOneMap->getParentVertexId(v3);
}
results[0] = { &side.m_vertices[v1], side.m_invMasses[v1], &side.m_velocities[v1] };
results[1] = { &side.m_vertices[v2], side.m_invMasses[v2], &side.m_velocities[v2] };
diff --git a/Source/GeometryMappers/CMakeLists.txt b/Source/GeometryMappers/CMakeLists.txt
index 9600114194912dc99a03f8621fcd4e0dd9d24b3f..44d0ea3eeeff662f3ca404938e65f885be8da3b2 100644
--- a/Source/GeometryMappers/CMakeLists.txt
+++ b/Source/GeometryMappers/CMakeLists.txt
@@ -4,7 +4,7 @@
include(imstkAddLibrary)
imstk_add_library( GeometryMappers
DEPENDS
- Geometry
+ FilteringCore
)
#-----------------------------------------------------------------------------
diff --git a/Source/GeometryMappers/Testing/imstkOneToOneMapTest.cpp b/Source/GeometryMappers/Testing/imstkOneToOneMapTest.cpp
index 18863fa983d8764f6c4b5323468ca3efa47d7385..efd06ce6fba2690400e607cea9ffa1a892da6030 100644
--- a/Source/GeometryMappers/Testing/imstkOneToOneMapTest.cpp
+++ b/Source/GeometryMappers/Testing/imstkOneToOneMapTest.cpp
@@ -19,14 +19,14 @@
=========================================================================*/
-#include "imstkSurfaceMesh.h"
-#include "imstkPointSet.h"
#include "imstkGeometry.h"
#include "imstkOneToOneMap.h"
+#include "imstkPointSet.h"
+#include "imstkSphere.h"
+#include "imstkSurfaceMesh.h"
#include "imstkVecDataArray.h"
#include <gtest/gtest.h>
-#include "imstkSphere.h"
using namespace imstk;
@@ -71,16 +71,15 @@ TEST(imstkOneToOneMapTest, SimpleMap)
OneToOneMap map;
map.setParentGeometry(parent);
map.setChildGeometry(child);
-
map.compute();
for (int i = 0; i < child->getNumVertices(); ++i)
{
- EXPECT_EQ(map.getMapIdx(i), i);
+ EXPECT_EQ(map.getParentVertexId(i), i);
}
parent->translate({ 1.0, 2.0, 3.0 }, Geometry::TransformType::ApplyToData);
- map.apply();
+ map.update();
for (int i = 0; i < child->getNumVertices(); ++i)
{
EXPECT_TRUE(parent->getVertexPosition(i).isApprox(child->getVertexPosition(i)));
@@ -133,23 +132,22 @@ TEST(imstkOneToOneMapTest, OneToManyMap)
map.setParentGeometry(parent);
map.setChildGeometry(child);
map.setTolerance(1e-8);
-
map.compute();
for (int i = 0; i < parent->getNumVertices(); ++i)
{
- EXPECT_EQ(map.getMapIdx(i), i);
+ EXPECT_EQ(map.getParentVertexId(i), i);
}
- EXPECT_EQ(map.getMapIdx(8), 2);
+ EXPECT_EQ(map.getParentVertexId(8), 2);
- EXPECT_EQ(map.getMapIdx(9), IMSTK_NO_INDEX);
+ EXPECT_EQ(map.getParentVertexId(9), -1);
parent->translate({ 1.0, 2.0, 3.0 }, Geometry::TransformType::ApplyToData);
- map.apply();
+ map.update();
for (int i = 0; i < child->getNumVertices() - 1; ++i)
{
- auto j = map.getMapIdx(i);
+ auto j = map.getParentVertexId(i);
EXPECT_TRUE(child->getVertexPosition(i).isApprox(parent->getVertexPosition(j))) << "For " << i << ", " << j;
}
}
diff --git a/Source/GeometryMappers/imstkGeometryMap.cpp b/Source/GeometryMappers/imstkGeometryMap.cpp
index a1d362bbd3205753167f0ea973d8d504db37ca42..a8b46528ccb722c3bfdf0deef43ca7203c6f01fe 100644
--- a/Source/GeometryMappers/imstkGeometryMap.cpp
+++ b/Source/GeometryMappers/imstkGeometryMap.cpp
@@ -20,63 +20,20 @@
=========================================================================*/
#include "imstkGeometryMap.h"
-#include "imstkLogger.h"
+#include "imstkGeometry.h"
namespace imstk
{
-void
-GeometryMap::mute()
+GeometryMap::GeometryMap()
{
- m_isActive = false;
-}
-
-void
-GeometryMap::activate()
-{
- m_isActive = true;
-}
-
-void
-GeometryMap::print() const
-{
- LOG(INFO) << this->getTypeName();
-}
-
-bool
-GeometryMap::isActive() const
-{
- return m_isActive;
-}
+ // Set 2 ports for each, inputs will be set to outputs
+ setNumInputPorts(2);
-void
-GeometryMap::setParentGeometry(std::shared_ptr<Geometry> parent)
-{
- m_parentGeom = parent;
-}
-
-std::shared_ptr<Geometry>
-GeometryMap::getParentGeometry() const
-{
- return m_parentGeom;
-}
-
-void
-GeometryMap::setChildGeometry(std::shared_ptr<Geometry> child)
-{
- m_childGeom = child;
-}
-
-std::shared_ptr<Geometry>
-GeometryMap::getChildGeometry() const
-{
- return m_childGeom;
-}
-
-void
-GeometryMap::initialize()
-{
- CHECK(this->isValid()) << "Map is invalid!";
+ // Both inputs required
+ setRequiredInputType<Geometry>(0);
+ setRequiredInputType<Geometry>(1);
- this->compute();
+ // Set 1 output port, the child
+ setNumOutputPorts(1);
}
-} // namespace imstk
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkGeometryMap.h b/Source/GeometryMappers/imstkGeometryMap.h
index 64bb4b19e94e8d45680e1d117952bc3926dfec3e..7896c84c24ea5b19247f233fa9f78fbc14f8b275 100644
--- a/Source/GeometryMappers/imstkGeometryMap.h
+++ b/Source/GeometryMappers/imstkGeometryMap.h
@@ -21,19 +21,21 @@
#pragma once
-#include "imstkGeometry.h"
+#include "imstkGeometryAlgorithm.h"
namespace imstk
{
+class Geometry;
+
///
/// \class GeometryMap
///
/// \brief Base class for any geometric map
///
-class GeometryMap
+class GeometryMap : public GeometryAlgorithm
{
protected:
- GeometryMap() : m_isActive(true) { }
+ GeometryMap();
public:
virtual ~GeometryMap() = default;
@@ -45,65 +47,22 @@ public:
virtual const std::string getTypeName() const = 0;
///
- /// \brief Compute the map
- ///
+ /// \brief Compute the map, usually called once on startup
+ ///
virtual void compute() = 0;
- ///
- /// \brief Apply the map
- ///
- virtual void apply() = 0;
-
- ///
- /// \brief Print the map
- ///
- virtual void print() const;
-
- ///
- /// \brief Deactivate the map
- ///
- void mute();
-
- ///
- /// \brief Check the validity of the map
- ///
- virtual bool isValid() const = 0;
-
- ///
- /// \brief Activate the map
- ///
- void activate();
-
- ///
- /// \brief Returns true if the map is actively applied at runtime, else false.
- ///
- bool isActive() const;
-
- // Accessors
-
///
/// \brief Get/Set parent geometry
///@{
- virtual void setParentGeometry(std::shared_ptr<Geometry> parent);
- virtual std::shared_ptr<Geometry> getParentGeometry() const;
+ void setParentGeometry(std::shared_ptr<Geometry> parent) { setInput(parent, 0); }
+ std::shared_ptr<Geometry> getParentGeometry() const { return getInput(0); }
///@}
///
/// \brief Get/Set child geometry
///@{
- virtual void setChildGeometry(std::shared_ptr<Geometry> child);
- virtual std::shared_ptr<Geometry> getChildGeometry() const;
+ void setChildGeometry(std::shared_ptr<Geometry> child) { setInput(child, 1); }
+ std::shared_ptr<Geometry> getChildGeometry() const { return getInput(1); }
///@}
-
- ///
- /// \brief Initialize the map
- ///
- virtual void initialize();
-
-protected:
- bool m_isActive; ///> true if the map us active at runtime
-
- std::shared_ptr<Geometry> m_parentGeom; ///> the geometry which dictates the configuration
- std::shared_ptr<Geometry> m_childGeom; ///> the geometry which follows the parent
};
} // namespace imstk
diff --git a/Source/GeometryMappers/imstkIdentityMap.cpp b/Source/GeometryMappers/imstkIdentityMap.cpp
deleted file mode 100644
index 335cb82b703b4da4c4bbbadf17910f5fdfb196d8..0000000000000000000000000000000000000000
--- a/Source/GeometryMappers/imstkIdentityMap.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/*=========================================================================
-
- 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 "imstkIdentityMap.h"
-#include "imstkLogger.h"
-
-namespace imstk
-{
-void
-IdentityMap::apply()
-{
- // Check Map active
- if (!m_isActive)
- {
- LOG(WARNING) << "Identity map is not active";
- return;
- }
-
- // Check geometries
- CHECK(m_parentGeom != nullptr && m_childGeom != nullptr) << "Identity map is being applied without valid geometries";
-
- // Set the child mesh configuration to be same as that of parent
- m_childGeom->setTranslation(m_parentGeom->getTranslation());
- m_childGeom->setRotation(m_parentGeom->getRotation());
-}
-
-const RigidTransform3d
-IdentityMap::getTransform() const
-{
- return RigidTransform3d::Identity();
-}
-} // namespace imstk
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkIdentityMap.h b/Source/GeometryMappers/imstkIdentityMap.h
deleted file mode 100644
index d02783c4b837255de79f736a0f6aaacd5ca28dda..0000000000000000000000000000000000000000
--- a/Source/GeometryMappers/imstkIdentityMap.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*=========================================================================
-
- 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 "imstkGeometryMap.h"
-#include "imstkMacros.h"
-
-namespace imstk
-{
-///
-/// \class IdentityMap
-///
-/// \brief A maps that lets the child follow the parent's position and orientation
-///
-class IdentityMap : public GeometryMap
-{
-public:
- IdentityMap() { }
- ~IdentityMap() override = default;
-
- IMSTK_TYPE_NAME(IdentityMap)
-
- ///
- /// \brief Compute the map
- ///
- void compute() override {}
-
- ///
- /// \brief Apply the map
- ///
- void apply() override;
-
- ///
- /// \brief Check the validity of the map
- ///
- bool isValid() const override { return true; }
-
- // Accessors
-
- ///
- /// \brief DISABLED: Set the transform of the Identity map
- ///
- void setTransform(const RigidTransform3d& affineTransform) = delete;
-
- ///
- /// \brief Get the transform of Identity map which is an Identity (3x3)
- ///
- const RigidTransform3d getTransform() const;
-};
-} // namespace imstk
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkIsometricMap.cpp b/Source/GeometryMappers/imstkIsometricMap.cpp
index cb1f9752146ebca72c900f8e816d416f65520fce..7dcf58bdafc3f52606fd834f26430e88014c91c1 100644
--- a/Source/GeometryMappers/imstkIsometricMap.cpp
+++ b/Source/GeometryMappers/imstkIsometricMap.cpp
@@ -20,27 +20,14 @@
=========================================================================*/
#include "imstkIsometricMap.h"
+#include "imstkGeometry.h"
#include "imstkLogger.h"
namespace imstk
{
void
-IsometricMap::apply()
+IsometricMap::requestUpdate()
{
- // Check Map active
- if (!m_isActive)
- {
- LOG(WARNING) << "Isometric map is not active";
- return;
- }
-
- // Check geometries
- if (!m_parentGeom || !m_childGeom)
- {
- LOG(WARNING) << "Isometric map is being applied without valid geometries";
- return;
- }
-
- m_childGeom->setTransform(m_parentGeom->getTransform());
+ getChildGeometry()->setTransform(getParentGeometry()->getTransform());
}
} // namespace imstk
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkIsometricMap.h b/Source/GeometryMappers/imstkIsometricMap.h
index 6bc226cbd4f2937e13d831735d7b6b881f50e251..46109554d3733724aff76723d5cc196287dc7a49 100644
--- a/Source/GeometryMappers/imstkIsometricMap.h
+++ b/Source/GeometryMappers/imstkIsometricMap.h
@@ -34,14 +34,13 @@ namespace imstk
class IsometricMap : public GeometryMap
{
public:
- IsometricMap() { }
-
- IsometricMap(std::shared_ptr<Geometry> parent, std::shared_ptr<Geometry> child)
+ IsometricMap() = default;
+ IsometricMap(std::shared_ptr<Geometry> parent,
+ std::shared_ptr<Geometry> child)
{
this->setParentGeometry(parent);
this->setChildGeometry(child);
}
-
~IsometricMap() override = default;
IMSTK_TYPE_NAME(IsometricMap)
@@ -49,19 +48,12 @@ public:
///
/// \brief Compute the map
///
- void compute() override {}
+ void compute() override { }
+protected:
///
/// \brief Apply the map
///
- void apply() override;
-
- ///
- /// \brief Check the validity of the map
- ///
- inline bool isValid() const override
- {
- return true;
- }
+ void requestUpdate() override;
};
} // namespace imstk
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkOneToOneMap.cpp b/Source/GeometryMappers/imstkOneToOneMap.cpp
index da94d4a04aeda346ad765d805bd42cea26e0d3ae..8b7c35ab31c968c18007a875de418df9faf620c0 100644
--- a/Source/GeometryMappers/imstkOneToOneMap.cpp
+++ b/Source/GeometryMappers/imstkOneToOneMap.cpp
@@ -70,9 +70,9 @@ OneToOneMap::computeMap(std::unordered_map<int, int>& tetVertToSurfVertMap)
auto meshParent = std::dynamic_pointer_cast<PointSet>(getParentGeometry());
auto meshChild = std::dynamic_pointer_cast<PointSet>(getChildGeometry());
- std::shared_ptr<VecDataArray<double, 3>> parentVerticesPtr = meshParent->getInitialVertexPositions();
+ std::shared_ptr<VecDataArray<double, 3>> parentVerticesPtr = meshParent->getVertexPositions();
const VecDataArray<double, 3>& parentVertices = *parentVerticesPtr;
- std::shared_ptr<VecDataArray<double, 3>> childVerticesPtr = meshChild->getInitialVertexPositions();
+ std::shared_ptr<VecDataArray<double, 3>> childVerticesPtr = meshChild->getVertexPositions();
const VecDataArray<double, 3>& childVertices = *childVerticesPtr;
// For every vertex on the child, find corresponding one on the parent
@@ -146,16 +146,9 @@ OneToOneMap::requestUpdate()
}
int
-OneToOneMap::getMapIdx(const int idx) const
+OneToOneMap::getParentVertexId(const int childVertexId) const
{
- auto citer = m_oneToOneMap.find(idx);
- if (citer != m_oneToOneMap.end())
- {
- return citer->second;
- }
- else
- {
- return -1;
- }
+ auto citer = m_oneToOneMap.find(childVertexId);
+ return (citer != m_oneToOneMap.end()) ? citer->second : -1;
}
} // namespace imstk
\ No newline at end of file
diff --git a/Source/GeometryMappers/imstkOneToOneMap.h b/Source/GeometryMappers/imstkOneToOneMap.h
index 0fdc4a5b1b79ae22a7e19f446d6249d87f212344..abf12f8c8cef891dedfa5b59bd0705732277b9f2 100644
--- a/Source/GeometryMappers/imstkOneToOneMap.h
+++ b/Source/GeometryMappers/imstkOneToOneMap.h
@@ -17,12 +17,12 @@
#include "imstkGeometryMap.h"
#include "imstkMacros.h"
+#include "imstkMath.h"
#include "imstkTypes.h"
namespace imstk
{
template<typename T, int N> class VecDataArray;
-class PointSet;
///
/// \class OneToOneMap
@@ -33,15 +33,10 @@ class PointSet;
class OneToOneMap : public GeometryMap
{
public:
- OneToOneMap() : GeometryMap() {}
+ OneToOneMap();
OneToOneMap(
std::shared_ptr<Geometry> parent,
- std::shared_ptr<Geometry> child)
- {
- this->setParentGeometry(parent);
- this->setChildGeometry(child);
- }
-
+ std::shared_ptr<Geometry> child);
~OneToOneMap() override = default;
IMSTK_TYPE_NAME(OneToOneMap)
@@ -52,41 +47,21 @@ public:
void compute() override;
///
- /// \brief Check the validity of the map
- ///
- bool isValid() const override;
+ /// \brief Compute tet vertex id to surf vertex id map
+ ///
+ void computeMap(std::unordered_map<int, int>& tetVertToSurfVertMap);
///
/// \brief Sets the one-to-one correspondence directly
///
void setMap(const std::unordered_map<int, int>& sourceMap);
- ///
- /// \brief Apply (if active) the tetra-triangle mesh map
- ///
- void apply() override;
-
- ///
- /// \brief Print the map
- ///
- void print() const override;
-
- ///
- /// \brief Set the geometry that dictates the map
- ///
- void setParentGeometry(std::shared_ptr<Geometry> parent) override;
-
- ///
- /// \brief Set the geometry that follows the parent
- ///
- void setChildGeometry(std::shared_ptr<Geometry> child) override;
-
///
/// \brief Get the mapped/corresponding parent index, given a child index.
/// returns -1 if no correspondence found.
/// \param index on the child geometry
///
- int getMapIdx(const int idx) const;
+ int getParentVertexId(const int childVertexId) const;
///
/// \brief Set/Get the tolerance. The distance to consider
@@ -94,7 +69,7 @@ public:
///@{
void setTolerance(const double tolerance) { m_epsilon = tolerance; }
double getTolerance() const { return m_epsilon; }
-///@}
+ ///@}
protected:
///
@@ -102,6 +77,12 @@ protected:
///
int findMatchingVertex(const VecDataArray<double, 3>& parentMesh, const Vec3d& p);
+ ///
+ /// \brief Apply (if active) the tetra-triangle mesh map
+ ///
+ void requestUpdate() override;
+
+public:
// A map and vector are maintained. The vector for parallel processing, the map for fast lookup
std::unordered_map<int, int> m_oneToOneMap; ///> One to one mapping data
std::vector<std::pair<int, int>> m_oneToOneMapVector; ///> One to one mapping data
diff --git a/Source/GeometryMappers/imstkTetraTriangleMap.cpp b/Source/GeometryMappers/imstkTetraTriangleMap.cpp
index 01f5682e163b2b1f35b59e509fab34d37a2dbc57..79c67ebb136897d9aaf694273dbb8915068584fc 100644
--- a/Source/GeometryMappers/imstkTetraTriangleMap.cpp
+++ b/Source/GeometryMappers/imstkTetraTriangleMap.cpp
@@ -22,21 +22,38 @@
#include "imstkTetraTriangleMap.h"
#include "imstkLogger.h"
#include "imstkParallelUtils.h"
-#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
#include "imstkVecDataArray.h"
namespace imstk
{
-void
-TetraTriangleMap::compute()
+TetraTriangleMap::TetraTriangleMap() : m_boundingBoxAvailable(false)
+{
+ setRequiredInputType<TetrahedralMesh>(0);
+ setRequiredInputType<PointSet>(1);
+}
+TetraTriangleMap::TetraTriangleMap(
+ std::shared_ptr<Geometry> parent,
+ std::shared_ptr<Geometry> child)
+ : m_boundingBoxAvailable(false)
{
- CHECK(m_parentGeom && m_childGeom) << "TetraTriangle map is being applied without valid geometries";
+ setRequiredInputType<TetrahedralMesh>(0);
+ setRequiredInputType<PointSet>(1);
- auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
- auto triMesh = std::dynamic_pointer_cast<SurfaceMesh>(m_childGeom);
+ setParentGeometry(parent);
+ setChildGeometry(child);
+}
- CHECK(tetMesh && triMesh) << "Fail to cast from geometry to meshes";
+void
+TetraTriangleMap::compute()
+{
+ if (!areInputsValid())
+ {
+ LOG(WARNING) << "TetraTriangleMap failed to run, inputs not satisfied";
+ return;
+ }
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(getParentGeometry());
+ auto triMesh = std::dynamic_pointer_cast<PointSet>(getChildGeometry());
m_verticesEnclosingTetraId.clear();
m_verticesWeights.clear();
@@ -51,7 +68,9 @@ TetraTriangleMap::compute()
updateBoundingBox();
}
- ParallelUtils::parallelFor(triMesh->getNumVertices(), [&](const size_t vertexIdx) {
+ ParallelUtils::parallelFor(triMesh->getNumVertices(),
+ [&](const int vertexIdx)
+ {
if (!bValid) // If map is invalid, no need to check further
{
return;
@@ -59,12 +78,12 @@ TetraTriangleMap::compute()
const Vec3d& surfVertPos = triMesh->getVertexPosition(vertexIdx);
// Find the enclosing or closest tetrahedron
- size_t closestTetId = findEnclosingTetrahedron(surfVertPos);
- if (closestTetId == std::numeric_limits<size_t>::max())
+ int closestTetId = findEnclosingTetrahedron(surfVertPos);
+ if (closestTetId == IMSTK_INT_MAX)
{
closestTetId = findClosestTetrahedron(surfVertPos);
}
- if (closestTetId == std::numeric_limits<size_t>::max())
+ if (closestTetId == IMSTK_INT_MAX)
{
LOG(WARNING) << "Could not find closest tetrahedron";
bValid = false;
@@ -87,27 +106,18 @@ TetraTriangleMap::compute()
}
void
-TetraTriangleMap::apply()
+TetraTriangleMap::requestUpdate()
{
- // Check if map is active
- if (!m_isActive)
- {
- LOG(WARNING) << "TetraTriangle map is not active";
- return;
- }
-
- // Check geometries
- CHECK(m_parentGeom && m_childGeom) << "TetraTriangle map is being applied without valid geometries";
-
- auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
- auto triMesh = std::dynamic_pointer_cast<SurfaceMesh>(m_childGeom);
-
- CHECK(m_parentGeom != nullptr && m_childGeom != nullptr) << "Fail to cast from geometry to meshes";
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(getParentGeometry());
+ auto pointSet = std::dynamic_pointer_cast<PointSet>(getChildGeometry());
VecDataArray<double, 3>& vertices = *m_childVerts;
- ParallelUtils::parallelFor(triMesh->getNumVertices(), [&](const size_t vertexId) {
- const Vec4i& tetVerts = tetMesh->getTetrahedronIndices(m_verticesEnclosingTetraId[vertexId]);
- const auto& weights = m_verticesWeights[vertexId];
+ ParallelUtils::parallelFor(pointSet->getNumVertices(),
+ [&](const int vertexId)
+ {
+ const Vec4i& tetVerts =
+ tetMesh->getTetrahedronIndices(m_verticesEnclosingTetraId[vertexId]);
+ const Vec4d& weights = m_verticesWeights[vertexId];
vertices[vertexId] = tetMesh->getVertexPosition(tetVerts[0]) * weights[0] +
tetMesh->getVertexPosition(tetVerts[1]) * weights[1] +
@@ -115,85 +125,28 @@ TetraTriangleMap::apply()
tetMesh->getVertexPosition(tetVerts[3]) * weights[3];
});
- triMesh->postModified();
-}
-
-void
-TetraTriangleMap::print() const
-{
- // Print Type
- GeometryMap::print();
+ pointSet->postModified();
- // Print vertices and weight info
- LOG(INFO) << "Vertex (<vertNum>): Tetrahedra: <TetNum> - Weights: (w1, w2, w3, w4)\n";
- for (size_t vertexId = 0; vertexId < m_verticesEnclosingTetraId.size(); ++vertexId)
- {
- LOG(INFO) << "Vertex (" << vertexId << "):"
- << "\tTetrahedra: " << m_verticesEnclosingTetraId.at(vertexId) << " - Weights: "
- << "(" << m_verticesWeights.at(vertexId)[0] << ", "
- << m_verticesWeights.at(vertexId)[1] << ", " << m_verticesWeights.at(vertexId)[2]
- << ", " << m_verticesWeights.at(vertexId)[3] << ")";
- }
+ setOutput(pointSet);
}
-bool
-TetraTriangleMap::isValid() const
-{
- auto meshParent = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
- CHECK(m_parentGeom != nullptr) << "Fail to cast parent Geometry to TetrahedralMesh";
-
- size_t totalElementsParent = static_cast<size_t>(meshParent->getNumTetrahedra());
- std::atomic<bool> bOK{ true };
-
- ParallelUtils::parallelFor(m_verticesEnclosingTetraId.size(), [&](const size_t tetId) {
- if (!bOK) // If map is invalid, no need to check further
- {
- return;
- }
- if (!(m_verticesEnclosingTetraId[tetId] < totalElementsParent))
- {
- bOK = false;
- }
- });
-
- return bOK;
-}
-
-void
-TetraTriangleMap::setParentGeometry(std::shared_ptr<Geometry> parent)
-{
- CHECK(parent != nullptr) << "The parent geometry provided is nullptr";
- CHECK(std::dynamic_pointer_cast<TetrahedralMesh>(parent) != nullptr) <<
- "The parent geometry provided is not TetrahedralMesh";
- GeometryMap::setParentGeometry(parent);
-}
-
-void
-TetraTriangleMap::setChildGeometry(std::shared_ptr<Geometry> child)
-{
- CHECK(child != nullptr) << "The child geometry provided is nullptr";
- CHECK(std::dynamic_pointer_cast<SurfaceMesh>(child) != nullptr) <<
- "The child geometry provided is not SurfaceMesh";
- GeometryMap::setChildGeometry(child);
-}
-
-size_t
+int
TetraTriangleMap::findClosestTetrahedron(const Vec3d& pos) const
{
- auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
- double closestDistanceSqr = MAX_D;
- size_t closestTetrahedron = std::numeric_limits<size_t>::max();
- Vec3d center(0, 0, 0);
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(getParentGeometry());
+ double closestDistanceSqr = IMSTK_DOUBLE_MAX;
+ int closestTetrahedron = IMSTK_INT_MAX;
+ Vec3d center(0.0, 0.0, 0.0);
- for (int tetId = 0; tetId < tetMesh->getNumTetrahedra(); ++tetId)
+ for (int tetId = 0; tetId < tetMesh->getNumTetrahedra(); tetId++)
{
center = Vec3d::Zero();
const Vec4i& vert = tetMesh->getTetrahedronIndices(tetId);
- for (size_t i = 0; i < 4; ++i)
+ for (int i = 0; i < 4; i++)
{
center += tetMesh->getInitialVertexPosition(vert[i]);
}
- center = center / 4.;
+ center = center / 4.0;
const double distSqr = (pos - center).squaredNorm();
if (distSqr < closestDistanceSqr)
@@ -206,15 +159,15 @@ TetraTriangleMap::findClosestTetrahedron(const Vec3d& pos) const
return closestTetrahedron;
}
-size_t
+int
TetraTriangleMap::findEnclosingTetrahedron(const Vec3d& pos) const
{
- auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
- size_t enclosingTetrahedron = std::numeric_limits<size_t>::max();
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(getParentGeometry());
+ int enclosingTetrahedron = IMSTK_INT_MAX;
- for (int idx = 0; idx < tetMesh->getNumTetrahedra(); ++idx)
+ for (int idx = 0; idx < tetMesh->getNumTetrahedra(); idx++)
{
- bool inBox = (pos[0] >= m_bBoxMin[idx][0] && pos[0] <= m_bBoxMax[idx][0])
+ const bool inBox = (pos[0] >= m_bBoxMin[idx][0] && pos[0] <= m_bBoxMax[idx][0])
&& (pos[1] >= m_bBoxMin[idx][1] && pos[1] <= m_bBoxMax[idx][1])
&& (pos[2] >= m_bBoxMin[idx][2] && pos[2] <= m_bBoxMax[idx][2]);
@@ -226,7 +179,6 @@ TetraTriangleMap::findEnclosingTetrahedron(const Vec3d& pos) const
}
const Vec4d weights = tetMesh->computeBarycentricWeights(idx, pos);
-
if (weights[0] >= 0 && weights[1] >= 0 && weights[2] >= 0 && weights[3] >= 0)
{
enclosingTetrahedron = idx;
@@ -240,12 +192,13 @@ TetraTriangleMap::findEnclosingTetrahedron(const Vec3d& pos) const
void
TetraTriangleMap::updateBoundingBox()
{
- /// \todo use parallelFor
- auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(m_parentGeom);
+ auto tetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(getParentGeometry());
m_bBoxMin.resize(tetMesh->getNumTetrahedra());
m_bBoxMax.resize(tetMesh->getNumTetrahedra());
- ParallelUtils::parallelFor(tetMesh->getNumTetrahedra(), [&](const size_t tid) {
+ ParallelUtils::parallelFor(tetMesh->getNumTetrahedra(),
+ [&](const int tid)
+ {
tetMesh->computeTetrahedronBoundingBox(tid, m_bBoxMin[tid], m_bBoxMax[tid]);
});
diff --git a/Source/GeometryMappers/imstkTetraTriangleMap.h b/Source/GeometryMappers/imstkTetraTriangleMap.h
index 4e9d47d02feb97ea13447faa30bcaff9276b0a20..2ef707e0703d9646060c6fb3998b1446368f8f68 100644
--- a/Source/GeometryMappers/imstkTetraTriangleMap.h
+++ b/Source/GeometryMappers/imstkTetraTriangleMap.h
@@ -23,6 +23,7 @@
#include "imstkGeometryMap.h"
#include "imstkMacros.h"
+#include "imstkMath.h"
namespace imstk
{
@@ -31,22 +32,17 @@ template<typename T, int N> class VecDataArray;
///
/// \class TetraTriangleMap
///
-/// \brief Computes and applies the triangle-tetrahedra map. The parent mesh is the
-/// tetrahedral mesh and the child is the surface triangular mesh.
+/// \brief Computes and applies the PointSet-Tetrahedra map. Vertices of the
+/// child geometry are deformed according to the deformation of the tetrahedron
+/// they are located in. If they are not within one, nearest tet is used.
///
class TetraTriangleMap : public GeometryMap
{
public:
- TetraTriangleMap() : m_boundingBoxAvailable(false) { }
+ TetraTriangleMap();
TetraTriangleMap(
std::shared_ptr<Geometry> parent,
- std::shared_ptr<Geometry> child)
- : m_boundingBoxAvailable(false)
- {
- this->setParentGeometry(parent);
- this->setChildGeometry(child);
- }
-
+ std::shared_ptr<Geometry> child);
~TetraTriangleMap() override = default;
IMSTK_TYPE_NAME(TetraTriangleMap)
@@ -56,36 +52,16 @@ public:
///
void compute() override;
+protected:
///
/// \brief Apply (if active) the tetra-triangle mesh map
///
- void apply() override;
-
- ///
- /// \brief Print the map
- ///
- void print() const override;
-
- ///
- /// \brief Check the validity of the map
- ///
- bool isValid() const override;
+ void requestUpdate() override;
- ///
- /// \brief Set the geometry that dictates the map
- ///
- void setParentGeometry(std::shared_ptr<Geometry> parent) override;
-
- ///
- /// \brief Set the geometry that follows the parent
- ///
- void setChildGeometry(std::shared_ptr<Geometry> child) override;
-
-protected:
///
/// \brief Find the tetrahedron that encloses a given point in 3D space
///
- size_t findEnclosingTetrahedron(const Vec3d& pos) const;
+ int findEnclosingTetrahedron(const Vec3d& pos) const;
///
/// \brief Update bounding box of each tetrahedra of the mesh
@@ -96,11 +72,12 @@ protected:
/// \brief Find the closest tetrahedron based on the distance to their centroids for a given
/// point in 3D space
///
- size_t findClosestTetrahedron(const Vec3d& pos) const;
+ int findClosestTetrahedron(const Vec3d& pos) const;
+protected:
std::vector<Vec4d> m_verticesWeights; ///> weights
- std::vector<size_t> m_verticesEnclosingTetraId; ///> Enclosing tetrahedra to interpolate the weights upon
+ std::vector<int> m_verticesEnclosingTetraId; ///> Enclosing tetrahedra to interpolate the weights upon
std::vector<Vec3d> m_bBoxMin;
std::vector<Vec3d> m_bBoxMax;
diff --git a/Source/SceneEntities/Objects/imstkCollidingObject.cpp b/Source/SceneEntities/Objects/imstkCollidingObject.cpp
index 0c6ad615f4f9c4194600dbde8c49a030700a02a1..9cb3d9fd96b3dda43aeb91390db0bf86401821a7 100644
--- a/Source/SceneEntities/Objects/imstkCollidingObject.cpp
+++ b/Source/SceneEntities/Objects/imstkCollidingObject.cpp
@@ -20,6 +20,7 @@
=========================================================================*/
#include "imstkCollidingObject.h"
+#include "imstkGeometry.h"
#include "imstkGeometryMap.h"
namespace imstk
@@ -34,7 +35,7 @@ CollidingObject::initialize()
if (m_collidingToVisualMap)
{
- m_collidingToVisualMap->initialize();
+ m_collidingToVisualMap->compute();
}
return true;
@@ -69,7 +70,7 @@ CollidingObject::updateGeometries()
{
if (m_collidingToVisualMap)
{
- m_collidingToVisualMap->apply();
+ m_collidingToVisualMap->update();
m_collidingToVisualMap->getChildGeometry()->postModified();
}
SceneObject::updateGeometries();
diff --git a/Source/SceneEntities/Objects/imstkDynamicObject.cpp b/Source/SceneEntities/Objects/imstkDynamicObject.cpp
index d4c1da38f46cc1501c6fd5337d4b6ae2e6ef22dc..adb1d5d42f23bf8957f8d25e49ec03116bfddc82 100644
--- a/Source/SceneEntities/Objects/imstkDynamicObject.cpp
+++ b/Source/SceneEntities/Objects/imstkDynamicObject.cpp
@@ -49,7 +49,7 @@ DynamicObject::updateGeometries()
{
if (m_physicsToVisualGeomMap)
{
- m_physicsToVisualGeomMap->apply();
+ m_physicsToVisualGeomMap->update();
m_physicsToVisualGeomMap->getChildGeometry()->postModified();
}
}
@@ -66,7 +66,7 @@ DynamicObject::updatePhysicsGeometry()
if (m_physicsToCollidingGeomMap)
{
- m_physicsToCollidingGeomMap->apply();
+ m_physicsToCollidingGeomMap->update();
m_physicsToCollidingGeomMap->getChildGeometry()->postModified();
}
@@ -83,12 +83,12 @@ DynamicObject::initialize()
{
if (m_physicsToCollidingGeomMap)
{
- m_physicsToCollidingGeomMap->initialize();
+ m_physicsToCollidingGeomMap->compute();
}
if (m_physicsToVisualGeomMap)
{
- m_physicsToVisualGeomMap->initialize();
+ m_physicsToVisualGeomMap->compute();
}
return m_dynamicalModel->initialize();