diff --git a/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp
index 210f6fda5d912ec95d97625cf1a04521eb30b154..880d676d705f8431ff3419dac710bd6f63e21178 100644
--- a/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp
+++ b/Source/CollisionDetection/CollisionDetection/imstkPointSetToSphereCD.cpp
@@ -45,8 +45,7 @@ PointSetToSphereCD::computeCollisionDataAB(
std::shared_ptr<Sphere> sphere = std::dynamic_pointer_cast<Sphere>(geomB);
const Vec3d& spherePos = sphere->getPosition();
- const double r = sphere->getRadius();
- const double rSqr = r * r;
+ const double r = sphere->getRadius();
std::shared_ptr<VecDataArray<double, 3>> vertexData = pointSet->getVertexPositions();
const VecDataArray<double, 3>& vertices = *vertexData;
@@ -89,8 +88,7 @@ PointSetToSphereCD::computeCollisionDataA(
std::shared_ptr<Sphere> sphere = std::dynamic_pointer_cast<Sphere>(geomB);
const Vec3d& spherePos = sphere->getPosition();
- const double r = sphere->getRadius();
- const double rSqr = r * r;
+ const double r = sphere->getRadius();
std::shared_ptr<VecDataArray<double, 3>> vertexData = pointSet->getVertexPositions();
const VecDataArray<double, 3>& vertices = *vertexData;
@@ -127,8 +125,7 @@ PointSetToSphereCD::computeCollisionDataB(
std::shared_ptr<Sphere> sphere = std::dynamic_pointer_cast<Sphere>(geomB);
const Vec3d& spherePos = sphere->getPosition();
- const double r = sphere->getRadius();
- const double rSqr = r * r;
+ const double r = sphere->getRadius();
std::shared_ptr<VecDataArray<double, 3>> vertexData = pointSet->getVertexPositions();
const VecDataArray<double, 3>& vertices = *vertexData;
diff --git a/Source/CollisionDetection/CollisionDetection/imstkTetraToPointSetCD.cpp b/Source/CollisionDetection/CollisionDetection/imstkTetraToPointSetCD.cpp
index 0cae60ae788ef68bb9ab28474cb98c88a009cfbc..9033c25243c1c8c6ae4bce6ba6a92ce457e78dda 100644
--- a/Source/CollisionDetection/CollisionDetection/imstkTetraToPointSetCD.cpp
+++ b/Source/CollisionDetection/CollisionDetection/imstkTetraToPointSetCD.cpp
@@ -45,8 +45,7 @@ TetraToPointSetCD::computeCollisionDataAB(
m_hashTableB.clear();
m_hashTableB.insertPoints(*pointSet->getVertexPositions());
- constexpr const double eps = IMSTK_DOUBLE_EPS;
- const double eps2 = 1.0e-10;
+ constexpr const double eps = IMSTK_DOUBLE_EPS;
//const VecDataArray<double, 3>& verticesMeshA = *m_tetMesh->getVertexPositions();
std::shared_ptr<VecDataArray<double, 3>> verticesMeshBPtr = pointSet->getVertexPositions();
diff --git a/Source/CollisionHandling/imstkPBDPickingCH.cpp b/Source/CollisionHandling/imstkPBDPickingCH.cpp
index 2ac653bff9ae2147dc26fb9f6dfcecb67b476817..e9071478f300d8002c26a6e07c8383603e424ec2 100644
--- a/Source/CollisionHandling/imstkPBDPickingCH.cpp
+++ b/Source/CollisionHandling/imstkPBDPickingCH.cpp
@@ -33,8 +33,8 @@ limitations under the License.
namespace imstk
{
PBDPickingCH::PBDPickingCH() :
- m_isPrevPicking(false),
- m_isPicking(false)
+ m_isPicking(false),
+ m_isPrevPicking(false)
{
m_pickedPtIdxOffset.clear();
}
diff --git a/Source/CollisionHandling/imstkRigidBodyCH.cpp b/Source/CollisionHandling/imstkRigidBodyCH.cpp
index bed011604ffeab3eeb47acdf2ced1da95d8c9378..9bc9015c01a342bd9d7ad5ee71fa8c9efb10d47d 100644
--- a/Source/CollisionHandling/imstkRigidBodyCH.cpp
+++ b/Source/CollisionHandling/imstkRigidBodyCH.cpp
@@ -223,7 +223,7 @@ RigidBodyCH::handleRbdStaticOneWay(
{
const Vec3d& p = verticesA[elemA.ids[0]];
- Vec3i tri;
+ Vec3i tri = Vec3i::Zero();
if (elemB.idCount == 1)
{
tri = (*dynamic_cast<SurfaceMesh*>(geomB.get())->getTriangleIndices().get())[elemB.ids[0]];
@@ -253,7 +253,7 @@ RigidBodyCH::handleRbdStaticOneWay(
// Edge vs Edge
else if (elemA.cellType == IMSTK_EDGE && elemB.cellType == IMSTK_EDGE)
{
- Vec2i edgeA;
+ Vec2i edgeA = Vec2i::Zero();
if (elemA.idCount == 1)
{
edgeA = (*dynamic_cast<LineMesh*>(geomA.get())->getLinesIndices().get())[elemA.ids[0]];
@@ -262,7 +262,7 @@ RigidBodyCH::handleRbdStaticOneWay(
{
edgeA = Vec2i(elemA.ids[0], elemA.ids[1]);
}
- Vec2i edgeB;
+ Vec2i edgeB = Vec2i::Zero();
if (elemB.idCount == 1)
{
edgeB = (*dynamic_cast<LineMesh*>(geomB.get())->getLinesIndices().get())[elemB.ids[0]];
@@ -292,7 +292,7 @@ RigidBodyCH::handleRbdStaticOneWay(
// Edge vs Vertex
else if (elemA.cellType == IMSTK_EDGE && elemB.cellType == IMSTK_VERTEX)
{
- Vec2i edge;
+ Vec2i edge = Vec2i::Zero();
if (elemA.idCount == 1)
{
edge = (*dynamic_cast<LineMesh*>(geomA.get())->getLinesIndices().get())[elemA.ids[0]];
@@ -319,11 +319,8 @@ RigidBodyCH::handleRbdStaticOneWay(
const double l = diff1.norm();
if (l > 0.0)
{
- const Vec3d n = diff1 / l;
- const double u = p / length;
-
+ const Vec3d n = diff1 / l;
const Vec3d contactPt = pt - n * l;
-
addConstraint(rbdObj, contactPt, n, l);
}
}
@@ -331,7 +328,7 @@ RigidBodyCH::handleRbdStaticOneWay(
{
const Vec3d& pt = verticesA[elemA.ids[0]];
- Vec2i edge;
+ Vec2i edge = Vec2i::Zero();
if (elemB.idCount == 1)
{
edge = (*dynamic_cast<LineMesh*>(geomB.get())->getLinesIndices().get())[elemB.ids[0]];
@@ -356,12 +353,8 @@ RigidBodyCH::handleRbdStaticOneWay(
const double l = diff1.norm();
if (l > 0.0)
{
- const Vec3d n = diff1 / l;
- const double u = p / length;
-
+ const Vec3d n = diff1 / l;
const Vec3d contactPt = pt + n * l;
- //std::cout << "n: " << n[0] << ", " << n[1] << ", " << n[2] << std::endl;
-
addConstraint(rbdObj, contactPt, -n, l);
}
}
diff --git a/Source/Common/Testing/imstkTaskGraphTest.cpp b/Source/Common/Testing/imstkTaskGraphTest.cpp
index 80bce1465fdcbe165519ce85735c2c6e405459ab..ff4971e22d4ff7ca148c73ab5537428a1fe4cd9d 100644
--- a/Source/Common/Testing/imstkTaskGraphTest.cpp
+++ b/Source/Common/Testing/imstkTaskGraphTest.cpp
@@ -241,9 +241,9 @@ TEST(imstkTaskGraphTest, RemoveNodesWithEdgesAndRedirect)
taskGraph->addNode(node2);
// *INDENT-OFF*
- /// source - node1 - sink
- /// \
- /// node2
+ /* source - node1 - sink
+ \
+ node2 */
// *INDENT-ON*
taskGraph->addEdge(source, node1);
taskGraph->addEdge(node1, node2);
@@ -266,9 +266,9 @@ TEST(imstkTaskGraphTest, RemoveNodesWithEdgesAndRedirect)
taskGraph->addNode(node3);
// *INDENT-OFF*
- /// source - node1 - sink
- /// / \
- /// node2 node3
+ /* source - node1 - sink
+ / \
+ node2 node3 */
// *INDENT-ON*
taskGraph->addEdge(source, node1);
taskGraph->addEdge(node2, node1);
@@ -297,9 +297,9 @@ TEST(imstkTaskGraphTest, InsertBefore)
taskGraph->addNode(node1);
taskGraph->addNode(node2);
// *INDENT-OFF*
- /// source - node1 - sink
- /// /
- /// node2
+ /* source - node1 - sink
+ /
+ node2 */
// *INDENT-ON*
taskGraph->addEdge(source, node1);
taskGraph->addEdge(node2, node1);
@@ -327,9 +327,9 @@ TEST(imstkTaskGraphTest, InsertAfter)
taskGraph->addNode(node1);
taskGraph->addNode(node2);
// *INDENT-OFF*
- /// source - node1 - sink
- /// \
- /// node2
+ /* source - node1 - sink
+ \
+ node2 */
// *INDENT-ON*
taskGraph->addEdge(source, node1);
taskGraph->addEdge(node1, node2);
@@ -353,10 +353,12 @@ TEST(imstkTaskGraphTest, AddSubGraph)
auto source = subGraph->getSource();
auto sink = subGraph->getSink();
+ // *INDENT-OFF*
/// Diamond Pattern
- /// source - innerNode1 - sink
- /// \ /
- /// innerNode2
+ /* source - innerNode1 - sink
+ \ /
+ innerNode2 */
+ // *INDENT-ON*
subGraph->addNodes({ innerNode1, innerNode2 });
subGraph->addEdges({
{ source, innerNode1 },
diff --git a/Source/Constraint/PbdConstraints/imstkPbdPointPointConstraint.cpp b/Source/Constraint/PbdConstraints/imstkPbdPointPointConstraint.cpp
index 23eac6416c5bbca2154276b5d47ec837a686f7ab..791bc07699b15d4344ac03ccf9c7c785fe243cb4 100644
--- a/Source/Constraint/PbdConstraints/imstkPbdPointPointConstraint.cpp
+++ b/Source/Constraint/PbdConstraints/imstkPbdPointPointConstraint.cpp
@@ -19,8 +19,6 @@
=========================================================================*/
-#pragma once
-
#include "imstkPbdPointPointConstraint.h"
namespace imstk
diff --git a/Source/DynamicalModels/ObjectModels/imstkPbdConstraintFunctor.h b/Source/DynamicalModels/ObjectModels/imstkPbdConstraintFunctor.h
index cba0724866d685fbd229d93eb6a3503db6fe76f3..e037061b579c83d0a463277568a44aeb4def9d50 100644
--- a/Source/DynamicalModels/ObjectModels/imstkPbdConstraintFunctor.h
+++ b/Source/DynamicalModels/ObjectModels/imstkPbdConstraintFunctor.h
@@ -571,7 +571,7 @@ struct PbdDihedralConstraintFunctor : public PbdConstraintFunctor
}
};
- for (int i = 0; i < vertIdsToTriangleIds.size(); i++)
+ for (size_t i = 0; i < vertIdsToTriangleIds.size(); i++)
{
std::sort(vertIdsToTriangleIds[i].begin(), vertIdsToTriangleIds[i].end());
}
@@ -650,25 +650,27 @@ struct PbdDihedralConstraintFunctor : public PbdConstraintFunctor
}
auto addDihedralConstraint =
- [&](size_t t0, size_t t1, size_t i1, size_t i2, double stiffness)
+ [&](int t0, int t1, int i1, int i2, double stiffness)
{
const Vec3i& tri0 = elements[t0];
const Vec3i& tri1 = elements[t1];
size_t idx0 = 0;
size_t idx1 = 0;
- for (size_t i = 0; i < 3; ++i)
+ for (int i = 0; i < 3; ++i)
{
if (tri0[i] != i1 && tri0[i] != i2)
{
- idx0 = tri0[i];
+ idx0 = static_cast<size_t>(tri0[i]);
}
if (tri1[i] != i1 && tri1[i] != i2)
{
- idx1 = tri1[i];
+ idx1 = static_cast<size_t>(tri1[i]);
}
}
auto c = std::make_shared<PbdDihedralConstraint>();
- c->initConstraint(initVertices, idx0, idx1, i1, i2, stiffness);
+ c->initConstraint(initVertices,
+ idx0, idx1, static_cast<size_t>(i1), static_cast<size_t>(i2),
+ stiffness);
constraints.addConstraint(c);
};
diff --git a/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp b/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
index 2dd5ca22dc3170ef3a3a67e5ba10c18a892d1b23..1234ea79d0938782af4413b391c4bf79b85c5733 100644
--- a/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
+++ b/Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
@@ -509,7 +509,6 @@ SPHModel::computeViscosity()
return;
}
- Vec3d neighborVelContributions = Vec3d::Zero();
Vec3d neighborVelContributionsNumerator = Vec3d::Zero();
double neighborVelContributionsDenominator = 0.0;
Vec3d particleShifts = Vec3d::Zero();
diff --git a/Source/Scene/imstkRigidObjectCollision.cpp b/Source/Scene/imstkRigidObjectCollision.cpp
index b90b526f5406dd1aad6a037598f29d1a3ffdabfa..8d4da5237cedcc2dd90af50f021a4a9625b6e7a7 100644
--- a/Source/Scene/imstkRigidObjectCollision.cpp
+++ b/Source/Scene/imstkRigidObjectCollision.cpp
@@ -150,10 +150,10 @@ RigidObjectCollision::initGraphEdges(std::shared_ptr<TaskNode> source, std::shar
else
{
// Note: ComputeTenative and RbdModel may be the same
- // ComputeTenative Velocities 1 CollidingObject Source
- // Collision Detection
- // Collision Handling \
- // Rbd Solve 1 CollidingObject Update
+ /* ComputeTenative Velocities 1 CollidingObject Source
+ Collision Detection
+ Collision Handling \
+ Rbd Solve 1 CollidingObject Update */
m_taskGraph->addEdge(rbdModel1->getComputeTentativeVelocitiesNode(), m_collisionDetectionNode);
m_taskGraph->addEdge(m_objB->getTaskGraph()->getSource(), m_collisionDetectionNode);
diff --git a/Source/SceneEntities/Objects/imstkDebugGeometryObject.cpp b/Source/SceneEntities/Objects/imstkDebugGeometryObject.cpp
index 86bd81518b952aaa520e630b8562a4136adea902..43e7efdf341bb2b90d832107b5d0ab6346d6fb81 100644
--- a/Source/SceneEntities/Objects/imstkDebugGeometryObject.cpp
+++ b/Source/SceneEntities/Objects/imstkDebugGeometryObject.cpp
@@ -164,7 +164,6 @@ DebugGeometryObject::addArrow(const Vec3d& start, const Vec3d& end, const Color&
const Vec3d diff = scaledEnd - start;
const double length = diff.norm();
- const Vec3d n = diff / length;
const Vec3d tan = Vec3d(1.0, 0.0, 0.0).cross(diff).normalized();
addLine(start, scaledEnd, color);