diff --git a/Examples/PBD/PBDClothRemap/CMakeLists.txt b/Examples/PBD/PBDClothRemap/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e86f1ce6919d9a266c8ad6835edeef2eec3160ac
--- /dev/null
+++ b/Examples/PBD/PBDClothRemap/CMakeLists.txt
@@ -0,0 +1,34 @@
+###########################################################################
+#
+# Copyright (c) Kitware, Inc.
+#
+# 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.
+#
+###########################################################################
+
+project(Example-PBDCloth-Remap)
+
+#-----------------------------------------------------------------------------
+# Create executable
+#-----------------------------------------------------------------------------
+imstk_add_executable(${PROJECT_NAME} pbdClothRemapExample.cpp)
+
+#-----------------------------------------------------------------------------
+# Add the target to Examples folder
+#-----------------------------------------------------------------------------
+SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/PBD)
+
+#-----------------------------------------------------------------------------
+# Link libraries to executable
+#-----------------------------------------------------------------------------
+target_link_libraries(${PROJECT_NAME} SimulationManager Filtering)
diff --git a/Examples/PBD/PBDClothRemap/pbdClothRemapExample.cpp b/Examples/PBD/PBDClothRemap/pbdClothRemapExample.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..87882a39cc1b53de57bc692c429fbd7ddc8d3cae
--- /dev/null
+++ b/Examples/PBD/PBDClothRemap/pbdClothRemapExample.cpp
@@ -0,0 +1,244 @@
+/*=========================================================================
+
+ 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 "imstkCamera.h"
+#include "imstkKeyboardSceneControl.h"
+#include "imstkLight.h"
+#include "imstkLogger.h"
+#include "imstkMouseSceneControl.h"
+#include "imstkNew.h"
+#include "imstkPbdModel.h"
+#include "imstkPbdObject.h"
+#include "imstkRenderMaterial.h"
+#include "imstkScene.h"
+#include "imstkSceneManager.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkVisualModel.h"
+#include "imstkVTKViewer.h"
+#include "imstkKeyboardDeviceClient.h"
+#include "imstkSurfaceMeshSubdivide.h"
+
+using namespace imstk;
+
+// Parameters to play with
+const double width = 10.0;
+const double height = 10.0;
+const int nRows = 16;
+const int nCols = 16;
+
+///
+/// \brief Creates cloth geometry
+///
+static std::shared_ptr<SurfaceMesh>
+makeClothGeometry(const double width,
+ const double height,
+ const int nRows,
+ const int nCols)
+{
+ imstkNew<SurfaceMesh> clothMesh;
+
+ imstkNew<VecDataArray<double, 3>> verticesPtr(nRows * nCols);
+ VecDataArray<double, 3>& vertices = *verticesPtr.get();
+ const double dy = width / static_cast<double>(nCols - 1);
+ const double dx = height / static_cast<double>(nRows - 1);
+ for (int i = 0; i < nRows; ++i)
+ {
+ for (int j = 0; j < nCols; j++)
+ {
+ vertices[i * nCols + j] = Vec3d(dx * static_cast<double>(i), 1.0, dy * static_cast<double>(j));
+ }
+ }
+
+ // Add connectivity data
+ imstkNew<VecDataArray<int, 3>> indicesPtr;
+ VecDataArray<int, 3>& indices = *indicesPtr.get();
+ for (int i = 0; i < nRows - 1; ++i)
+ {
+ for (int j = 0; j < nCols - 1; j++)
+ {
+ const int index1 = i * nCols + j;
+ const int index2 = index1 + nCols;
+ const int index3 = index1 + 1;
+ const int index4 = index2 + 1;
+
+ // Interleave [/][\]
+ if (i % 2 ^ j % 2)
+ {
+ indices.push_back(Vec3i(index1, index2, index3));
+ indices.push_back(Vec3i(index4, index3, index2));
+ }
+ else
+ {
+ indices.push_back(Vec3i(index2, index4, index1));
+ indices.push_back(Vec3i(index4, index3, index1));
+ }
+ }
+ }
+
+ clothMesh->initialize(verticesPtr, indicesPtr);
+
+ return clothMesh;
+}
+
+///
+/// \brief Creates cloth object
+///
+static std::shared_ptr<PbdObject>
+makeClothObj(const std::string& name,
+ const double width,
+ const double height,
+ const int nRows,
+ const int nCols)
+{
+ imstkNew<PbdObject> clothObj(name);
+
+ // Setup the Geometry
+ std::shared_ptr<SurfaceMesh> clothMesh = makeClothGeometry(width, height, nRows, nCols);
+
+ // Setup the Parameters
+ imstkNew<PBDModelConfig> pbdParams;
+ pbdParams->enableConstraint(PbdConstraint::Type::Distance, 1.0e2);
+ pbdParams->enableConstraint(PbdConstraint::Type::Dihedral, 1.0e1);
+ pbdParams->m_fixedNodeIds = { 0, static_cast<size_t>(nCols) - 1 };
+ pbdParams->m_uniformMassValue = width * height / ((double)nRows * (double)nCols);
+ pbdParams->m_gravity = Vec3d(0.0, -9.8, 0.0);
+ pbdParams->m_defaultDt = 0.005;
+ pbdParams->m_iterations = 5;
+
+ // Setup the Model
+ imstkNew<PbdModel> pbdModel;
+ pbdModel->setModelGeometry(clothMesh);
+ pbdModel->configure(pbdParams);
+
+ // Setup the VisualModel
+ imstkNew<RenderMaterial> material;
+ material->setBackFaceCulling(false);
+ material->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+
+ imstkNew<VisualModel> visualModel(clothMesh);
+ visualModel->setRenderMaterial(material);
+
+ // Setup the Object
+ clothObj->addVisualModel(visualModel);
+ clothObj->setPhysicsGeometry(clothMesh);
+ clothObj->setDynamicalModel(pbdModel);
+
+ return clothObj;
+}
+
+///
+/// \brief This example demonstrates replacement of geometry on a pbd
+/// simualted cloth
+///
+int
+main()
+{
+ // Write log to stdout and file
+ Logger::startLogger();
+
+ // Setup a scene
+ imstkNew<Scene> scene("PBDCloth");
+ std::shared_ptr<PbdObject> clothObj = nullptr;
+ {
+ clothObj = makeClothObj("Cloth", width, height, nRows, nCols);
+ scene->addSceneObject(clothObj);
+
+ // Light (white)
+ imstkNew<DirectionalLight> whiteLight("whiteLight");
+ whiteLight->setFocalPoint(Vec3d(5.0, -8.0, -5.0));
+ whiteLight->setIntensity(1.0);
+ scene->addLight(whiteLight);
+
+ // Light (red)
+ imstkNew<SpotLight> colorLight("colorLight");
+ colorLight->setPosition(Vec3d(-5.0, -3.0, 5.0));
+ colorLight->setFocalPoint(Vec3d(0.0, -5.0, 5.0));
+ colorLight->setIntensity(100.);
+ colorLight->setColor(Color::Red);
+ colorLight->setSpotAngle(30.0);
+ scene->addLight(colorLight);
+
+ // Adjust camera
+ scene->getActiveCamera()->setFocalPoint(0.0, -5.0, 5.0);
+ scene->getActiveCamera()->setPosition(-15.0, -5.0, 25.0);
+ }
+
+ // Run the simulation
+ {
+ // Setup a viewer to render in its own thread
+ imstkNew<VTKViewer> viewer("Viewer");
+ viewer->setActiveScene(scene);
+
+ // Setup a scene manager to advance the scene in its own thread
+ imstkNew<SceneManager> sceneManager("Scene Manager");
+ sceneManager->setActiveScene(scene);
+ viewer->addChildThread(sceneManager); // SceneManager will start/stop with viewer
+
+ // Add mouse and keyboard controls to the viewer
+ {
+ imstkNew<MouseSceneControl> mouseControl(viewer->getMouseDevice());
+ mouseControl->setSceneManager(sceneManager);
+ viewer->addControl(mouseControl);
+
+ imstkNew<KeyboardSceneControl> keyControl(viewer->getKeyboardDevice());
+ keyControl->setSceneManager(sceneManager);
+ keyControl->setViewer(viewer);
+ viewer->addControl(keyControl);
+ }
+
+ // Queue keypress to be called after scene thread
+ queueConnect<KeyPressEvent>(viewer->getKeyboardDevice(), EventType::KeyEvent, sceneManager, [&](KeyPressEvent* e)
+ {
+ // When i is pressed replace the PBD cloth with a subdivided one
+ if (e->m_key == 'i' && e->m_keyPressType == KEY_PRESS)
+ {
+ // This has a number of issues that make it not physically realistic
+ // - Mass is not conservative when interpolated from subdivide
+ // - Constraint resting lengths are not correctly reinited
+ std::shared_ptr<SurfaceMesh> clothMesh = std::dynamic_pointer_cast<SurfaceMesh>(clothObj->getPhysicsGeometry());
+ imstkNew<SurfaceMeshSubdivide> subdiv;
+ subdiv->setInputMesh(clothMesh);
+ subdiv->setNumberOfSubdivisions(1);
+ subdiv->setSubdivisionType(SurfaceMeshSubdivide::Type::LINEAR);
+ subdiv->update();
+ std::shared_ptr<SurfaceMesh> newClothMesh = subdiv->getOutputMesh();
+
+ // RenderDelegates cannot visually have entire geometries swapped yet, so even though we could just set the geometry
+ // on the model, you would not visually see it. Instead we replace the vertex and index buffers of the existing one
+ // Another issue here is that initial geometry is not remapped so reset will not reset to undeformed config
+ clothMesh->setInitialVertexPositions(std::make_shared<VecDataArray<double, 3>>(*newClothMesh->getVertexPositions()));
+ clothMesh->setVertexPositions(newClothMesh->getVertexPositions());
+ clothMesh->setTriangleIndices(newClothMesh->getTriangleIndices());
+ clothMesh->setVertexAttribute("Velocities", newClothMesh->getVertexAttribute("Velocities"));
+ clothMesh->modified();
+
+ // Re-setup the constraints on the object
+ clothObj->initialize();
+ }
+ });
+
+ // Start viewer running, scene as paused
+ sceneManager->requestStatus(ThreadStatus::Paused);
+ viewer->start();
+ }
+
+ return 0;
+}
diff --git a/Examples/Rendering/RenderingExample.cpp b/Examples/Rendering/RenderingExample.cpp
index 4d3b7d2fc65e65783050173d5d99e0213e455a39..6af09bf96c3483930aa50b2563ecf4ba46766e18 100644
--- a/Examples/Rendering/RenderingExample.cpp
+++ b/Examples/Rendering/RenderingExample.cpp
@@ -76,6 +76,7 @@ main()
material->addTexture(headDiffuseTexture);
material->addTexture(headNormalTexture);
material->addTexture(headAoTexture);
+ material->setRecomputeVertexNormals(false);
imstkNew<VisualModel> surfMeshModel(surfaceMesh);
surfMeshModel->setRenderMaterial(material);
diff --git a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
index ce0cd14c46f5c54398d5f50777ae9edf0f4166be..3b2daf195abf547c7d42f2ac69b9b804c22edbfa 100644
--- a/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
@@ -42,8 +42,6 @@ PbdModel::PbdModel() : DynamicalModel(DynamicalModelType::PositionBasedDynamics)
m_mass(std::make_shared<DataArray<double>>()),
m_invMass(std::make_shared<DataArray<double>>()),
m_fixedNodeInvMass(std::make_shared<std::unordered_map<size_t, double>>()),
- m_constraints(std::make_shared<PBDConstraintVector>()),
- m_partitionedConstraints(std::make_shared<std::vector<PBDConstraintVector>>()),
m_parameters(std::make_shared<PBDModelConfig>())
{
m_validGeometryTypes = {
@@ -103,87 +101,91 @@ bool
PbdModel::initialize()
{
LOG_IF(FATAL, (!this->getModelGeometry())) << "Model geometry is not yet set! Cannot initialize without model geometry.";
+ bool bOK = true; // Return immediately if some constraint failed to initialize
initState();
- bool bOK = true; // Return immediately if some constraint failed to initialize
-
- // Setup the default pbd solver if none exists
- if (m_pbdSolver == nullptr)
+ // Initialize constraints
{
- m_pbdSolver = std::make_shared<PbdSolver>();
- m_pbdSolver->setIterations(m_parameters->m_iterations);
- m_pbdSolver->setSolverType(m_parameters->m_solverType);
- }
- m_pbdSolver->setPositions(getCurrentState()->getPositions());
- m_pbdSolver->setInvMasses(getInvMasses());
- m_pbdSolver->setConstraints(getConstraints());
- m_pbdSolver->setPartitionedConstraints(getPartitionedConstraints());
- m_pbdSolver->setTimeStep(m_parameters->m_dt);
+ m_constraints = std::make_shared<PBDConstraintVector>();
- // Initialize FEM constraints
- for (auto& constraint: m_parameters->m_FEMConstraints)
- {
- computeElasticConstants();
- if (!initializeFEMConstraints(constraint.second))
+ // Initialize FEM constraints
+ for (auto& constraint : m_parameters->m_FEMConstraints)
{
- return false;
+ computeElasticConstants();
+ if (!initializeFEMConstraints(constraint.second))
+ {
+ return false;
+ }
}
- }
- // Initialize other constraints
- for (auto& constraint: m_parameters->m_regularConstraints)
- {
- if (m_parameters->m_solverType == PbdConstraint::SolverType::PBD && constraint.second > 1.0)
- {
- LOG(WARNING) << "for PBD, k should be between [0, 1]";
- }
- else if (m_parameters->m_solverType == PbdConstraint::SolverType::xPBD && constraint.second <= 1.0)
+ // Initialize other constraints
+ for (auto& constraint : m_parameters->m_regularConstraints)
{
- LOG(WARNING) << "for xPBD, k is Young's Modulu, and should be much larger than 1";
- }
+ if (m_parameters->m_solverType == PbdConstraint::SolverType::PBD && constraint.second > 1.0)
+ {
+ LOG(WARNING) << "for PBD, k should be between [0, 1]";
+ }
+ else if (m_parameters->m_solverType == PbdConstraint::SolverType::xPBD && constraint.second <= 1.0)
+ {
+ LOG(WARNING) << "for xPBD, k is Young's Modulu, and should be much larger than 1";
+ }
- if (!bOK)
- {
- return false;
- }
- switch (constraint.first)
- {
- case PbdConstraint::Type::Volume:
- bOK = initializeVolumeConstraints(constraint.second);
- break;
+ if (!bOK)
+ {
+ return false;
+ }
+ switch (constraint.first)
+ {
+ case PbdConstraint::Type::Volume:
+ bOK = initializeVolumeConstraints(constraint.second);
+ break;
- case PbdConstraint::Type::Distance:
- bOK = initializeDistanceConstraints(constraint.second);
- break;
+ case PbdConstraint::Type::Distance:
+ bOK = initializeDistanceConstraints(constraint.second);
+ break;
- case PbdConstraint::Type::Area:
- bOK = initializeAreaConstraints(constraint.second);
- break;
+ case PbdConstraint::Type::Area:
+ bOK = initializeAreaConstraints(constraint.second);
+ break;
- case PbdConstraint::Type::Bend:
- bOK = initializeBendConstraints(constraint.second);
- break;
+ case PbdConstraint::Type::Bend:
+ bOK = initializeBendConstraints(constraint.second);
+ break;
- case PbdConstraint::Type::Dihedral:
- bOK = initializeDihedralConstraints(constraint.second);
- break;
+ case PbdConstraint::Type::Dihedral:
+ bOK = initializeDihedralConstraints(constraint.second);
+ break;
- case PbdConstraint::Type::ConstantDensity:
- bOK = initializeConstantDensityConstraint(constraint.second);
- break;
+ case PbdConstraint::Type::ConstantDensity:
+ bOK = initializeConstantDensityConstraint(constraint.second);
+ break;
+
+ default:
+ LOG(FATAL) << "Invalid constraint type";
+ }
+ }
- default:
- LOG(FATAL) << "Invalid constraint type";
+ // Partition constraints for parallel computation
+ if (!m_partitioned)
+ {
+ this->partitionConstraints();
+ m_partitioned = true;
}
}
- // Partition constraints for parallel computation
- if (!m_partitioned)
+ // Setup the default pbd solver if none exists
+ if (m_pbdSolver == nullptr)
{
- this->partitionConstraints();
- m_partitioned = true;
+ m_pbdSolver = std::make_shared<PbdSolver>();
+ m_pbdSolver->setIterations(m_parameters->m_iterations);
+ m_pbdSolver->setSolverType(m_parameters->m_solverType);
}
+ m_pbdSolver->setPositions(getCurrentState()->getPositions());
+ m_pbdSolver->setInvMasses(getInvMasses());
+ m_pbdSolver->setConstraints(getConstraints());
+ m_pbdSolver->setPartitionedConstraints(getPartitionedConstraints());
+ m_pbdSolver->setTimeStep(m_parameters->m_dt);
this->setTimeStepSizeType(m_timeStepSizeType);
@@ -235,8 +237,23 @@ PbdModel::initState()
}
}
- // Define velocities and accelerations on the geometry
- m_mesh->setVertexAttribute("Velocities", m_currentState->getVelocities());
+ // Initialize Velocities
+ {
+ // If the input mesh has per vertex velocities, use those
+ std::shared_ptr<AbstractDataArray> velocities = m_mesh->getVertexAttribute("Velocities");
+ if (velocities != nullptr && velocities->getNumberOfComponents() == 3 && velocities->getScalarType() == IMSTK_DOUBLE
+ && std::dynamic_pointer_cast<VecDataArray<double, 3>>(velocities)->size() == numParticles)
+ {
+ m_currentState->setVelocities(std::dynamic_pointer_cast<VecDataArray<double, 3>>(velocities));
+ }
+ // If not, put existing (0 initialized velocities) on mesh
+ else
+ {
+ m_mesh->setVertexAttribute("Velocities", m_currentState->getVelocities());
+ }
+ }
+
+ // Define accelerations on the geometry
m_mesh->setVertexAttribute("Accelerations", m_currentState->getAccelerations());
// Overwrite some masses for specified fixed points
@@ -560,6 +577,8 @@ PbdModel::initializeConstantDensityConstraint(const double stiffness)
void
PbdModel::partitionConstraints(const bool print)
{
+ m_partitionedConstraints = std::make_shared<std::vector<PBDConstraintVector>>();
+
// Form the map { vertex : list_of_constraints_involve_vertex }
PBDConstraintVector& allConstraints = *m_constraints;
diff --git a/Source/DynamicalModels/ObjectStates/imstkPbdState.cpp b/Source/DynamicalModels/ObjectStates/imstkPbdState.cpp
index d5e86be8afe2b3052cc6dc3c5060f892651b827d..089b0107676f4300c55cfa367704248364b076a7 100644
--- a/Source/DynamicalModels/ObjectStates/imstkPbdState.cpp
+++ b/Source/DynamicalModels/ObjectStates/imstkPbdState.cpp
@@ -29,5 +29,7 @@ PbdState::setState(std::shared_ptr<PbdState> rhs)
*m_pos = *rhs->getPositions();
*m_vel = *rhs->getVelocities();
*m_acc = *rhs->getAccelerations();
+
+ m_pos->modified();
}
} // imstk
\ No newline at end of file
diff --git a/Source/DynamicalModels/ObjectStates/imstkSPHState.cpp b/Source/DynamicalModels/ObjectStates/imstkSPHState.cpp
index f76a23c8984dea960cba669a2bb91ab43ffa127b..a492b7ed8ae870d307128854b7c56d1fdd6e70a7 100644
--- a/Source/DynamicalModels/ObjectStates/imstkSPHState.cpp
+++ b/Source/DynamicalModels/ObjectStates/imstkSPHState.cpp
@@ -65,6 +65,8 @@ SPHState::setState(std::shared_ptr<SPHState> rhs)
m_NeighborLists = rhs->getFluidNeighborLists();
m_BDNeighborLists = rhs->getBoundaryNeighborLists();
m_NeighborInfo = rhs->getNeighborInfo();
+
+ m_positions->modified();
}
size_t
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKHexahedralMeshRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKHexahedralMeshRenderDelegate.cpp
index e12a8f1c8ea221e520dfc818e9c6b810728d1e6d..df0e75b5b332f99c885f3d319f8a8b7d6fbd153f 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKHexahedralMeshRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKHexahedralMeshRenderDelegate.cpp
@@ -162,7 +162,7 @@ VTKHexahedralMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
m_indices = geometry->getHexahedraIndices();
{
// Copy cells
- m_cellArray = vtkSmartPointer<vtkCellArray>::New();
+ m_cellArray->Reset();
vtkIdType cell[8];
for (const auto& t : *m_indices)
{
@@ -172,8 +172,7 @@ VTKHexahedralMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
}
m_cellArray->InsertNextCell(8, cell);
}
- m_mesh->SetCells(VTK_HEXAHEDRON, m_cellArray);
- m_mesh->Modified();
+ m_cellArray->Modified();
}
vertexOrIndexBufferChanged = true;
}
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
index e8caf76e4b2fc45a02bf778235ac93ccfa7c37ff..70a058f8035c7903b8fa00498f00abc522afe1db 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKLineMeshRenderDelegate.cpp
@@ -181,7 +181,7 @@ VTKLineMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
m_indices = geometry->getLinesIndices();
{
// Copy cells
- m_cellArray = vtkSmartPointer<vtkCellArray>::New();
+ m_cellArray->Reset();
vtkIdType cell[2];
for (const auto& t : *m_indices)
{
@@ -191,8 +191,7 @@ VTKLineMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
}
m_cellArray->InsertNextCell(2, cell);
}
- m_polydata->SetPolys(m_cellArray);
- m_polydata->Modified();
+ m_cellArray->Modified();
}
}
}
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.cpp
index 1678f5199acb512221bf249a8d2cf525c05e6882..328d8b0376838882a08d83cba9101146689d6fcd 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.cpp
@@ -44,19 +44,19 @@ VTKSurfaceMeshRenderDelegate::VTKSurfaceMeshRenderDelegate(std::shared_ptr<Visua
m_mappedVertexArray(vtkSmartPointer<vtkDoubleArray>::New()),
m_mappedNormalArray(vtkSmartPointer<vtkDoubleArray>::New())
{
- auto geometry = std::static_pointer_cast<SurfaceMesh>(m_visualModel->getGeometry());
- geometry->computeVertexNeighborTriangles();
+ m_geometry = std::static_pointer_cast<SurfaceMesh>(m_visualModel->getGeometry());
+ m_geometry->computeVertexNeighborTriangles();
// Get our own handles to these in case the geometry changes them
- m_vertices = geometry->getVertexPositions();
- m_indices = geometry->getTriangleIndices();
+ m_vertices = m_geometry->getVertexPositions();
+ m_indices = m_geometry->getTriangleIndices();
// Map vertices to VTK point data
if (m_vertices != nullptr)
{
m_mappedVertexArray = vtkDoubleArray::SafeDownCast(GeometryUtils::coupleVtkDataArray(m_vertices));
auto points = vtkSmartPointer<vtkPoints>::New();
- points->SetNumberOfPoints(geometry->getNumVertices());
+ points->SetNumberOfPoints(m_geometry->getNumVertices());
points->SetData(m_mappedVertexArray);
m_polydata->SetPoints(points);
}
@@ -78,32 +78,32 @@ VTKSurfaceMeshRenderDelegate::VTKSurfaceMeshRenderDelegate(std::shared_ptr<Visua
}
// Map vertex scalars if it has them
- if (geometry->getVertexScalars() != nullptr)
+ if (m_geometry->getVertexScalars() != nullptr)
{
- m_mappedVertexScalarArray = GeometryUtils::coupleVtkDataArray(geometry->getVertexScalars());
+ m_mappedVertexScalarArray = GeometryUtils::coupleVtkDataArray(m_geometry->getVertexScalars());
m_polydata->GetPointData()->SetScalars(m_mappedVertexScalarArray);
}
// Map cell scalars if it has them
- if (geometry->getCellScalars() != nullptr)
+ if (m_geometry->getCellScalars() != nullptr)
{
- m_mappedCellScalarArray = GeometryUtils::coupleVtkDataArray(geometry->getCellScalars());
+ m_mappedCellScalarArray = GeometryUtils::coupleVtkDataArray(m_geometry->getCellScalars());
m_polydata->GetCellData()->SetScalars(m_mappedCellScalarArray);
}
// Map normals, if none provided compute per vertex normals
- if (geometry->getVertexNormals() == nullptr)
+ if (m_geometry->getVertexNormals() == nullptr)
{
- geometry->computeVertexNormals();
+ m_geometry->computeVertexNormals();
}
- m_mappedNormalArray = vtkDoubleArray::SafeDownCast(GeometryUtils::coupleVtkDataArray(geometry->getVertexNormals()));
+ m_mappedNormalArray = vtkDoubleArray::SafeDownCast(GeometryUtils::coupleVtkDataArray(m_geometry->getVertexNormals()));
m_polydata->GetPointData()->SetNormals(m_mappedNormalArray);
// Map TCoords
- if (geometry->getVertexTCoords() != nullptr)
+ if (m_geometry->getVertexTCoords() != nullptr)
{
- m_mappedTCoordsArray = vtkFloatArray::SafeDownCast(GeometryUtils::coupleVtkDataArray(geometry->getVertexTCoords()));
- m_mappedTCoordsArray->SetName(geometry->getActiveVertexTCoords().c_str());
+ m_mappedTCoordsArray = vtkFloatArray::SafeDownCast(GeometryUtils::coupleVtkDataArray(m_geometry->getVertexTCoords()));
+ m_mappedTCoordsArray->SetName(m_geometry->getActiveVertexTCoords().c_str());
m_polydata->GetPointData()->SetTCoords(m_mappedTCoordsArray);
// Map Tangents
@@ -117,10 +117,12 @@ VTKSurfaceMeshRenderDelegate::VTKSurfaceMeshRenderDelegate(std::shared_ptr<Visua
}
// When geometry is modified, update data source, mostly for when an entirely new array/buffer was set
- queueConnect<Event>(geometry, EventType::Modified, this, &VTKSurfaceMeshRenderDelegate::geometryModified);
+ queueConnect<Event>(m_geometry, EventType::Modified, this, &VTKSurfaceMeshRenderDelegate::geometryModified);
// When the vertex buffer internals are modified, ie: a single or N elements
- queueConnect<Event>(geometry->getVertexPositions(), EventType::Modified, this, &VTKSurfaceMeshRenderDelegate::vertexDataModified);
+ queueConnect<Event>(m_geometry->getVertexPositions(), EventType::Modified, this, &VTKSurfaceMeshRenderDelegate::vertexDataModified);
+
+ // When the index buffer internals are modified,
// Setup mapper
{
@@ -231,6 +233,7 @@ VTKSurfaceMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
m_mappedVertexArray->SetNumberOfComponents(3);
m_mappedVertexArray->SetArray(reinterpret_cast<double*>(m_vertices->getPointer()), m_vertices->size() * 3, 1);
}
+ m_polydata->GetPoints()->SetNumberOfPoints(m_vertices->size());
//vertexOrIndexBufferChanged = true;
}
@@ -243,7 +246,7 @@ VTKSurfaceMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
m_indices = geometry->getTriangleIndices();
{
// Copy cells
- m_cellArray = vtkSmartPointer<vtkCellArray>::New();
+ m_cellArray->Reset();
vtkIdType cell[3];
for (const auto& t : *m_indices)
{
@@ -253,8 +256,7 @@ VTKSurfaceMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
}
m_cellArray->InsertNextCell(3, cell);
}
- m_polydata->SetPolys(m_cellArray);
- m_polydata->Modified();
+ m_cellArray->Modified();
}
//vertexOrIndexBufferChanged = true;
}
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.h b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.h
index 96d3fa8b8ccd2b7f296dfb108d780cf0e66857b2..d8e212ee644e127b6c80328bee626ae3cfea4e44 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.h
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKSurfaceMeshRenderDelegate.h
@@ -77,6 +77,7 @@ protected:
void geometryModified(Event* e);
protected:
+ std::shared_ptr<SurfaceMesh> m_geometry;
std::shared_ptr<VecDataArray<double, 3>> m_vertices;
std::shared_ptr<VecDataArray<double, 3>> m_normals;
std::shared_ptr<VecDataArray<int, 3>> m_indices;
diff --git a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKTetrahedralMeshRenderDelegate.cpp b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKTetrahedralMeshRenderDelegate.cpp
index cc78f31f60e59afeefad31c7d6db9a4c7f77b010..accf96d77ecdc8a6ee0b39acda064910b4f74962 100644
--- a/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKTetrahedralMeshRenderDelegate.cpp
+++ b/Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKTetrahedralMeshRenderDelegate.cpp
@@ -181,7 +181,7 @@ VTKTetrahedralMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
m_indices = geometry->getTetrahedraIndices();
{
// Copy cells
- m_cellArray = vtkSmartPointer<vtkCellArray>::New();
+ m_cellArray->Reset();
vtkIdType cell[3];
for (const auto& t : *m_indices)
{
@@ -191,8 +191,7 @@ VTKTetrahedralMeshRenderDelegate::geometryModified(Event* imstkNotUsed(e))
}
m_cellArray->InsertNextCell(3, cell);
}
- m_mesh->SetCells(VTK_TETRA, m_cellArray);
- m_mesh->Modified();
+ m_cellArray->Modified();
}
}
}