From f4ba920906edd19d062e8c365c914e403279fb0d Mon Sep 17 00:00:00 2001
From: Andrew Wilson <andx_roo@live.com>
Date: Mon, 1 Jun 2020 17:32:21 -0400
Subject: [PATCH] REFAC: Examples updated
---
.../ManualCDWithOctreeExample.cpp | 1 -
.../CreateEnclosingMesh.cpp | 1 -
.../DebugRendering/DebugRenderingExample.cpp | 1 -
.../DeformableBody/DeformableBodyExample.cpp | 34 +---
.../GeometryProcessingExample.cpp | 1 -
.../GeometryTransformsExample.cpp | 1 -
Examples/LineMesh/LineMeshExample.cpp | 1 -
Examples/MultipleScenes/multipleScenes.cpp | 11 +-
.../ObjectCtrlDummyClientExample.cpp | 1 -
Examples/PBD/PBDCloth/pbdClothExample.cpp | 5 +-
.../PBDCollisionMultipleObjectsExample.cpp | 143 +++++---------
.../PBDCollisionOneObjectExample.cpp | 32 ++-
.../PBDCollisionStairsExample.cpp | 183 ++++++++++--------
.../PBD3DDeformableObject.cpp | 9 +-
Examples/PBD/PBDFluids/PBDFluidsExample.cpp | 30 ++-
Examples/PBD/PBDString/pbdStringExample.cpp | 5 +-
Examples/Rendering/RenderingExample.cpp | 1 -
Examples/SPHFluid/Fluid.hpp | 6 -
Examples/SPHFluid/SPHFluidExample.hpp | 16 +-
.../SceneManagementExample.cpp | 4 +-
Examples/Screenshot/ScreenshotExample.cpp | 1 -
.../VolumeRenderingExample.cpp | 1 -
22 files changed, 192 insertions(+), 296 deletions(-)
diff --git a/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp b/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
index a36fe291a..e936eaca3 100644
--- a/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
+++ b/Examples/CollisionDetection/ManualCDWithOctree/ManualCDWithOctreeExample.cpp
@@ -33,7 +33,6 @@
#include "imstkCollidingObject.h"
#include "imstkSceneManager.h"
#include "imstkSurfaceMesh.h"
-#include "imstkCollisionGraph.h"
#include "imstkScene.h"
#include "imstkVTKRenderer.h"
diff --git a/Examples/CreateEnclosingMesh/CreateEnclosingMesh.cpp b/Examples/CreateEnclosingMesh/CreateEnclosingMesh.cpp
index 48e14db1b..18f13d1a6 100644
--- a/Examples/CreateEnclosingMesh/CreateEnclosingMesh.cpp
+++ b/Examples/CreateEnclosingMesh/CreateEnclosingMesh.cpp
@@ -22,7 +22,6 @@
#include "imstkSimulationManager.h"
#include "imstkLight.h"
#include "imstkCamera.h"
-#include "imstkCollisionGraph.h"
#include "imstkAPIUtilities.h"
#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
diff --git a/Examples/DebugRendering/DebugRenderingExample.cpp b/Examples/DebugRendering/DebugRenderingExample.cpp
index fa36764c3..1dd76526a 100644
--- a/Examples/DebugRendering/DebugRenderingExample.cpp
+++ b/Examples/DebugRendering/DebugRenderingExample.cpp
@@ -24,7 +24,6 @@
#include "imstkLight.h"
#include "imstkCamera.h"
#include "imstkSceneManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkDebugRenderGeometry.h"
#include "imstkAPIUtilities.h"
#include "imstkVTKViewer.h"
diff --git a/Examples/DeformableBody/DeformableBodyExample.cpp b/Examples/DeformableBody/DeformableBodyExample.cpp
index a49faf30d..e567f47c7 100644
--- a/Examples/DeformableBody/DeformableBodyExample.cpp
+++ b/Examples/DeformableBody/DeformableBodyExample.cpp
@@ -35,7 +35,6 @@
#include "imstkLight.h"
#include "imstkCamera.h"
#include "imstkFEMDeformableBodyModel.h"
-#include "imstkCollisionGraph.h"
#include "imstkSurfaceMesh.h"
#include "imstkScene.h"
@@ -68,21 +67,16 @@ main()
volTetMesh->extractSurfaceMesh(surfMesh, true);
- // Construct a map
-
// Construct one to one nodal map based on the above meshes
auto oneToOneNodalMap = std::make_shared<OneToOneMap>(tetMesh, surfMesh);
- // Scene object 1: Dragon
-
// Configure dynamic model
auto dynaModel = std::make_shared<FEMDeformableBodyModel>();
- //dynaModel->configure(iMSTK_DATA_ROOT "/asianDragon/asianDragon.config");
-
auto config = std::make_shared<FEMModelConfig>();
config->m_fixedNodeIds = { 51, 127, 178 };
dynaModel->configure(config);
+ //dynaModel->configure(iMSTK_DATA_ROOT "/asianDragon/asianDragon.config");
dynaModel->setTimeStepSizeType(TimeSteppingType::Fixed);
dynaModel->setModelGeometry(volTetMesh);
@@ -94,7 +88,7 @@ main()
auto surfMeshModel = std::make_shared<VisualModel>(surfMesh);
surfMeshModel->setRenderMaterial(material);
- // Scene Object
+ // Scene object 1: Dragon
auto deformableObj = std::make_shared<FeDeformableObject>("Dragon");
deformableObj->addVisualModel(surfMeshModel);
deformableObj->setPhysicsGeometry(volTetMesh);
@@ -111,30 +105,6 @@ main()
planeObj->setCollidingGeometry(planeGeom);
scene->addSceneObject(planeObj);
- // create a nonlinear system
- auto nlSystem = std::make_shared<NonLinearSystem>(
- dynaModel->getFunction(),
- dynaModel->getFunctionGradient());
-
- nlSystem->setUnknownVector(dynaModel->getUnknownVec());
- nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
- nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
-
- // create a linear solver
- auto linSolver = std::make_shared<ConjugateGradient>();
-
- if (linSolver->getType() == imstk::LinearSolver<imstk::SparseMatrixd>::Type::GaussSeidel
- && dynaModel->isFixedBCImplemented())
- {
- LOG(WARNING) << "The GS solver may not be viable!";
- }
-
- // create a non-linear solver and add to the scene
- auto nlSolver = std::make_shared<NewtonSolver>();
- nlSolver->setLinearSolver(linSolver);
- nlSolver->setSystem(nlSystem);
- scene->addNonlinearSolver(nlSolver);
-
// Light
auto light = std::make_shared<DirectionalLight>("light");
light->setFocalPoint(Vec3d(5, -8, -5));
diff --git a/Examples/GeometryProcessing/GeometryProcessingExample.cpp b/Examples/GeometryProcessing/GeometryProcessingExample.cpp
index 7a7df7d81..13c67ddfd 100644
--- a/Examples/GeometryProcessing/GeometryProcessingExample.cpp
+++ b/Examples/GeometryProcessing/GeometryProcessingExample.cpp
@@ -31,7 +31,6 @@
#include "imstkMeshIO.h"
#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
-#include "imstkCollisionGraph.h"
#include "imstkScene.h"
using namespace imstk;
diff --git a/Examples/GeometryTransforms/GeometryTransformsExample.cpp b/Examples/GeometryTransforms/GeometryTransformsExample.cpp
index a2656b5e9..b382a6506 100644
--- a/Examples/GeometryTransforms/GeometryTransformsExample.cpp
+++ b/Examples/GeometryTransforms/GeometryTransformsExample.cpp
@@ -21,7 +21,6 @@
#include "imstkSimulationManager.h"
#include "imstkSceneManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkSceneObject.h"
#include "imstkCamera.h"
#include "imstkLight.h"
diff --git a/Examples/LineMesh/LineMeshExample.cpp b/Examples/LineMesh/LineMeshExample.cpp
index 0aeb68af3..fdecd4d32 100644
--- a/Examples/LineMesh/LineMeshExample.cpp
+++ b/Examples/LineMesh/LineMeshExample.cpp
@@ -20,7 +20,6 @@
=========================================================================*/
#include "imstkSimulationManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkAPIUtilities.h"
#include "imstkCamera.h"
#include "imstkLineMesh.h"
diff --git a/Examples/MultipleScenes/multipleScenes.cpp b/Examples/MultipleScenes/multipleScenes.cpp
index ca7f47f62..fbe49abf2 100644
--- a/Examples/MultipleScenes/multipleScenes.cpp
+++ b/Examples/MultipleScenes/multipleScenes.cpp
@@ -28,7 +28,6 @@
#include "imstkSurfaceMesh.h"
#include "imstkMeshIO.h"
#include "imstkTetrahedralMesh.h"
-#include "imstkCollisionGraph.h"
#include "imstkPlane.h"
#include "imstkScene.h"
@@ -66,15 +65,15 @@ createSoftBodyScene(std::shared_ptr<SimulationManager> simManager, const char* s
auto pbdParams = std::make_shared<PBDModelConfig>();
// FEM constraint
- pbdParams->m_YoungModulus = 100.0;
- pbdParams->m_PoissonRatio = 0.3;
+ pbdParams->femParams->m_YoungModulus = 100.0;
+ pbdParams->femParams->m_PoissonRatio = 0.3;
pbdParams->m_fixedNodeIds = { 51, 127, 178 };
pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet, PbdFEMConstraint::MaterialType::StVK);
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_maxIter = 45;
+ pbdParams->m_iterations = 45;
// Set the parameters
pbdModel->configure(pbdParams);
@@ -165,8 +164,8 @@ createClothScene(std::shared_ptr<SimulationManager> simManager, const char* scen
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_DefaultDt = 0.03;
- pbdParams->m_maxIter = 5;
+ pbdParams->m_defaultDt = 0.03;
+ pbdParams->m_iterations = 5;
// Set the parameters
pbdModel->configure(pbdParams);
diff --git a/Examples/ObjectControllerDummyClient/ObjectCtrlDummyClientExample.cpp b/Examples/ObjectControllerDummyClient/ObjectCtrlDummyClientExample.cpp
index 87b0344db..632019b2a 100644
--- a/Examples/ObjectControllerDummyClient/ObjectCtrlDummyClientExample.cpp
+++ b/Examples/ObjectControllerDummyClient/ObjectCtrlDummyClientExample.cpp
@@ -21,7 +21,6 @@
#include "imstkSimulationManager.h"
#include "imstkCollidingObject.h"
-#include "imstkCollisionGraph.h"
#include "imstkCamera.h"
#include "imstkLight.h"
#include "imstkSceneManager.h"
diff --git a/Examples/PBD/PBDCloth/pbdClothExample.cpp b/Examples/PBD/PBDCloth/pbdClothExample.cpp
index 6ccbf0a2c..0477de140 100644
--- a/Examples/PBD/PBDCloth/pbdClothExample.cpp
+++ b/Examples/PBD/PBDCloth/pbdClothExample.cpp
@@ -24,7 +24,6 @@
#include "imstkPbdObject.h"
#include "imstkAPIUtilities.h"
#include "imstkSurfaceMesh.h"
-#include "imstkCollisionGraph.h"
#include "imstkCamera.h"
#include "imstkLight.h"
#include "imstkScene.h"
@@ -112,8 +111,8 @@ main()
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_DefaultDt = 0.005;
- pbdParams->m_maxIter = 5;
+ pbdParams->m_defaultDt = 0.005;
+ pbdParams->m_iterations = 5;
// Set the parameters
pbdModel->configure(pbdParams);
diff --git a/Examples/PBD/PBDCollisionMultipleObjects/PBDCollisionMultipleObjectsExample.cpp b/Examples/PBD/PBDCollisionMultipleObjects/PBDCollisionMultipleObjectsExample.cpp
index e620279b5..98da44f06 100644
--- a/Examples/PBD/PBDCollisionMultipleObjects/PBDCollisionMultipleObjectsExample.cpp
+++ b/Examples/PBD/PBDCollisionMultipleObjects/PBDCollisionMultipleObjectsExample.cpp
@@ -19,22 +19,17 @@
=========================================================================*/
-#include "imstkSimulationManager.h"
-#include "imstkLight.h"
#include "imstkCamera.h"
#include "imstkCollisionGraph.h"
-#include "imstkSceneManager.h"
-#include "imstkPbdModel.h"
-#include "imstkPbdObject.h"
-#include "imstkTetrahedralMesh.h"
+#include "imstkLight.h"
#include "imstkMeshIO.h"
+#include "imstkObjectInteractionFactory.h"
#include "imstkOneToOneMap.h"
-#include "imstkSurfaceMeshToSurfaceMeshCD.h"
-#include "imstkPBDCollisionHandling.h"
-#include "imstkVTKTextStatusManager.h"
-#include "imstkCollisionData.h"
-#include "imstkSurfaceMesh.h"
+#include "imstkPbdModel.h"
#include "imstkScene.h"
+#include "imstkSimulationManager.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkTetrahedralMesh.h"
// Enable this macro to generate many dragons
#define BIG_SCENE
@@ -124,17 +119,16 @@ generateDragon(const std::shared_ptr<imstk::Scene>& scene,
auto pbdParams = std::make_shared<PBDModelConfig>();
// FEM constraint
- pbdParams->m_YoungModulus = 1000.0;
- pbdParams->m_PoissonRatio = 0.3;
+ pbdParams->femParams->m_YoungModulus = 1000.0;
+ pbdParams->femParams->m_PoissonRatio = 0.3;
pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet, PbdFEMConstraint::MaterialType::StVK);
// Other parameters
pbdParams->m_uniformMassValue = 5.0;
pbdParams->m_gravity = Vec3d(0, -1.0, 0);
- pbdParams->m_DefaultDt = 0.01;
- pbdParams->m_maxIter = 20;
- pbdParams->m_proximity = 0.5;
- pbdParams->m_contactStiffness = 0.1;
+ pbdParams->m_defaultDt = 0.01;
+ pbdParams->m_iterations = 20;
+ pbdParams->collisionParams->m_proximity = 0.5;
pbdModel->configure(pbdParams);
deformableObj->setDynamicalModel(pbdModel);
@@ -156,10 +150,6 @@ main()
auto viewer = std::dynamic_pointer_cast<VTKViewer>(simManager->getViewer());
viewer->getVtkRenderWindow()->SetSize(1920, 1080);
- auto statusManager = viewer->getTextStatusManager();
- statusManager->setStatusFontSize(VTKTextStatusManager::Custom, 25);
- statusManager->setStatusFontColor(VTKTextStatusManager::Custom, Color::Orange);
-
// Build floor geometry
const double width = 100.0;
const double height = 100.0;
@@ -194,48 +184,45 @@ main()
}
}
- auto floorMesh = std::make_shared<SurfaceMesh>();
- floorMesh->initialize(vertList, triangles);
-
- auto materialFloor = std::make_shared<RenderMaterial>();
- materialFloor->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- auto floorMeshModel = std::make_shared<VisualModel>(floorMesh);
- floorMeshModel->setRenderMaterial(materialFloor);
-
- auto floor = std::make_shared<PbdObject>("Floor");
- floor->setCollidingGeometry(floorMesh);
- floor->setVisualGeometry(floorMesh);
- floor->setPhysicsGeometry(floorMesh);
-
- auto pbdModel2 = std::make_shared<PbdModel>();
- pbdModel2->setModelGeometry(floorMesh);
-
- // configure model
- auto pbdParams2 = std::make_shared<PBDModelConfig>();
- pbdParams2->m_uniformMassValue = 0.0;
- pbdParams2->m_proximity = 0.1;
- pbdParams2->m_contactStiffness = 0.1;
- pbdParams2->m_maxIter = 0;
-
- // Set the parameters
- pbdModel2->configure(pbdParams2);
- floor->setDynamicalModel(pbdModel2);
- scene->addSceneObject(floor);
+ auto floorObj = std::make_shared<PbdObject>("Floor");
+ {
+ auto floorMesh = std::make_shared<SurfaceMesh>();
+ floorMesh->initialize(vertList, triangles);
+
+ auto materialFloor = std::make_shared<RenderMaterial>();
+ materialFloor->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+ auto floorMeshModel = std::make_shared<VisualModel>(floorMesh);
+ floorMeshModel->setRenderMaterial(materialFloor);
+
+ floorObj->setCollidingGeometry(floorMesh);
+ floorObj->setVisualGeometry(floorMesh);
+ floorObj->setPhysicsGeometry(floorMesh);
+
+ auto pbdFloorModel = std::make_shared<PbdModel>();
+ pbdFloorModel->setModelGeometry(floorMesh);
+
+ // Configure floor
+ auto pbdFloorConfig = std::make_shared<PBDModelConfig>();
+ pbdFloorConfig->m_uniformMassValue = 0.0;
+ pbdFloorConfig->collisionParams->m_proximity = -0.1;
+ pbdFloorConfig->m_iterations = 0;
+
+ // Set the parameters
+ pbdFloorModel->configure(pbdFloorConfig);
+ floorObj->setDynamicalModel(pbdFloorModel);
+ scene->addSceneObject(floorObj);
+ }
#ifdef BIG_SCENE
const int expandsXZ = 1;
- const int expandsY = 4;
+ const int expandsY = 2;
#endif
const double shiftX = 5.0;
const double distanceXZ = 10.0;
const double distanceY = 5.0;
const double minHeight = -5.0;
- std::vector<std::shared_ptr<SurfaceMesh>> surfaceMeshes;
std::vector<std::shared_ptr<PbdObject>> pbdObjs;
- //std::vector<std::shared_ptr<PbdSolver>> pbdSolvers;
- std::vector<std::shared_ptr<CollisionData>> allCollisionData;
- size_t numTriangles = 0;
#ifdef BIG_SCENE
for (int i = -expandsXZ; i < expandsXZ; ++i)
@@ -260,59 +247,23 @@ main()
std::shared_ptr<PbdSolver> solver;
Vec3d translation(shiftX + i * distanceXZ, minHeight + j * distanceY, k * distanceXZ);
generateDragon(scene, translation, mesh, pbdObj, solver);
- surfaceMeshes.push_back(mesh);
pbdObjs.push_back(pbdObj);
- //pbdSolvers.push_back(solver);
- numTriangles += mesh->getNumTriangles();
-
- // Collision between dragon with floor
- const auto colData = std::make_shared<CollisionData>();
- const auto CD = std::make_shared<SurfaceMeshToSurfaceMeshCD>(mesh, floorMesh, colData);
- const auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::A,
- colData, pbdObj, floor);
- scene->getCollisionGraph()->addInteractionPair(pbdObj, floor, CD, CH, nullptr);
- allCollisionData.push_back(colData);
+
+ scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(pbdObj, floorObj,
+ InteractionType::PbdObjToPbdObj_Collision, CollisionDetection::Type::SurfaceMeshToSurfaceMesh));
}
}
}
- for (size_t i = 0; i < surfaceMeshes.size(); ++i)
+ for (size_t i = 0; i < pbdObjs.size(); ++i)
{
- for (size_t j = 0; j < surfaceMeshes.size(); ++j)
+ for (size_t j = i + 1; j < pbdObjs.size(); ++j)
{
- if (i == j)
- {
- continue;
- }
-
- // Collision between two dragons
- const auto colData = std::make_shared<CollisionData>();
- const auto CD = std::make_shared<SurfaceMeshToSurfaceMeshCD>(surfaceMeshes[i], surfaceMeshes[j], colData);
- const auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::A,
- colData, pbdObjs[i], pbdObjs[j]);
- scene->getCollisionGraph()->addInteractionPair(pbdObjs[i], pbdObjs[j], CD, CH, nullptr);
+ scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(pbdObjs[i], pbdObjs[j],
+ InteractionType::PbdObjToPbdObj_Collision, CollisionDetection::Type::SurfaceMeshToSurfaceMesh));
}
}
- auto updateFunc =
- [&](Module*) {
- size_t numVTCollisions = 0;
- size_t numEECollisions = 0;
- for (const auto& colData: allCollisionData)
- {
- numVTCollisions += colData->VTColData.getSize();
- numEECollisions += colData->EEColData.getSize();
- }
-
- std::stringstream ss;
- ss << "Num. dragons: " << surfaceMeshes.size()
- << "\nNum. surface triangles: " << numTriangles
- << "\nNum. collision: " << numVTCollisions << " (VT) | "
- << numEECollisions << " (EE)";
- statusManager->setCustomStatus(ss.str());
- };
- simManager->getSceneManager(scene)->setPostUpdateCallback(updateFunc);
-
// Light
auto light = std::make_shared<DirectionalLight>("light");
light->setFocalPoint(Vec3d(5, -8, -5));
diff --git a/Examples/PBD/PBDCollisionOneObject/PBDCollisionOneObjectExample.cpp b/Examples/PBD/PBDCollisionOneObject/PBDCollisionOneObjectExample.cpp
index 8a09a5c06..8616bf08b 100644
--- a/Examples/PBD/PBDCollisionOneObject/PBDCollisionOneObjectExample.cpp
+++ b/Examples/PBD/PBDCollisionOneObject/PBDCollisionOneObjectExample.cpp
@@ -24,15 +24,13 @@
#include "imstkCamera.h"
#include "imstkLight.h"
#include "imstkPbdModel.h"
-#include "imstkPbdObject.h"
-#include "imstkTetrahedralMesh.h"
#include "imstkMeshIO.h"
#include "imstkOneToOneMap.h"
-#include "imstkMeshToMeshBruteForceCD.h"
-#include "imstkPBDCollisionHandling.h"
#include "imstkTetraTriangleMap.h"
#include "imstkSurfaceMesh.h"
#include "imstkScene.h"
+#include "imstkComputeGraphVizWriter.h"
+#include "imstkObjectInteractionFactory.h"
using namespace imstk;
@@ -44,8 +42,7 @@ int
main()
{
auto simManager = std::make_shared<SimulationManager>();
- auto scene = simManager->createNewScene("PbdCollision");
-
+ auto scene = simManager->createNewScene("PbdCollisionOneDragon");
scene->getCamera()->setPosition(0, 3.0, 20.0);
scene->getCamera()->setFocalPoint(0.0, -10.0, 0.0);
@@ -81,18 +78,18 @@ main()
auto pbdParams = std::make_shared<PBDModelConfig>();
// FEM constraint
- pbdParams->m_YoungModulus = 1000.0;
- pbdParams->m_PoissonRatio = 0.3;
+ pbdParams->femParams->m_YoungModulus = 1000.0;
+ pbdParams->femParams->m_PoissonRatio = 0.3;
pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet,
PbdFEMConstraint::MaterialType::Corotation);
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -10.0, 0);
- pbdParams->m_DefaultDt = 0.01;
- pbdParams->m_maxIter = 5;
- pbdParams->m_proximity = 0.3;
- pbdParams->m_contactStiffness = 0.1;
+ pbdParams->m_defaultDt = 0.01;
+ pbdParams->m_iterations = 5;
+ pbdParams->collisionParams->m_proximity = 0.3;
+ pbdParams->collisionParams->m_stiffness = 0.1;
pbdModel->configure(pbdParams);
deformableObj->setDynamicalModel(pbdModel);
@@ -152,9 +149,8 @@ main()
// configure model
auto pbdParams2 = std::make_shared<PBDModelConfig>();
pbdParams2->m_uniformMassValue = 0.0;
- pbdParams2->m_proximity = 0.1;
- pbdParams2->m_contactStiffness = 1.0;
- pbdParams2->m_maxIter = 0;
+ pbdParams2->m_iterations = 0;
+ pbdParams2->collisionParams->m_proximity = -0.1;
// Set the parameters
pbdModel2->configure(pbdParams2);
@@ -163,10 +159,8 @@ main()
scene->addSceneObject(floor);
// Collision
- scene->getCollisionGraph()->addInteractionPair(deformableObj, floor,
- CollisionDetection::Type::MeshToMeshBruteForce,
- CollisionHandling::Type::PBD,
- CollisionHandling::Type::None);
+ scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(deformableObj, floor,
+ InteractionType::PbdObjToPbdObj_Collision, CollisionDetection::Type::MeshToMeshBruteForce));
// Light
auto light = std::make_shared<DirectionalLight>("light");
diff --git a/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp b/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
index 7ae559e88..bbc2c685a 100644
--- a/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
+++ b/Examples/PBD/PBDCollisionStairs/PBDCollisionStairsExample.cpp
@@ -20,6 +20,8 @@
//=========================================================================*/
#include "imstkCamera.h"
+#include "imstkCollisionGraph.h"
+#include "imstkLight.h"
#include "imstkMeshIO.h"
#include "imstkMeshToMeshBruteForceCD.h"
#include "imstkOneToOneMap.h"
@@ -27,13 +29,12 @@
#include "imstkPbdModel.h"
#include "imstkPbdObject.h"
#include "imstkPbdSolver.h"
+#include "imstkScene.h"
#include "imstkSimulationManager.h"
+#include "imstkSurfaceMesh.h"
#include "imstkTetrahedralMesh.h"
#include "imstkTetraTriangleMap.h"
-#include "imstkCollisionGraph.h"
-#include "imstkSurfaceMesh.h"
-#include "imstkLight.h"
-#include "imstkScene.h"
+#include "imstkObjectInteractionFactory.h"
using namespace imstk;
@@ -92,6 +93,87 @@ buildStairs(int nSteps, double width, double height, double depth)
return stairMesh;
}
+static std::shared_ptr<PbdObject>
+makeDragonPbdObject(const std::string& name)
+{
+ auto pbdObj = std::make_shared<PbdObject>(name);
+
+ // Read in the dragon mesh
+ auto highResSurfMesh = std::dynamic_pointer_cast<SurfaceMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj"));
+ auto coarseTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg"));
+ highResSurfMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
+ coarseTetMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
+ auto coarseSurfMesh = std::make_shared<SurfaceMesh>();
+ coarseTetMesh->extractSurfaceMesh(coarseSurfMesh, true);
+
+ // Setup the Parameters
+ auto pbdParams = std::make_shared<PBDModelConfig>();
+ pbdParams->femParams->m_YoungModulus = 1000.0;
+ pbdParams->femParams->m_PoissonRatio = 0.3;
+ pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet,
+ PbdFEMConstraint::MaterialType::StVK);
+ pbdParams->m_uniformMassValue = 1.0;
+ pbdParams->m_gravity = Vec3d(0, -10.0, 0);
+ pbdParams->m_defaultDt = 0.01;
+ pbdParams->m_iterations = 10;
+ pbdParams->collisionParams->m_proximity = 0.3;
+ pbdParams->collisionParams->m_stiffness = 0.1;
+
+ // Setup the Model
+ auto pbdModel = std::make_shared<PbdModel>();
+ pbdModel->setModelGeometry(coarseTetMesh);
+ pbdModel->configure(pbdParams);
+
+ // Setup the VisualModel
+ auto material = std::make_shared<RenderMaterial>();
+ material->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+ auto surfMeshModel = std::make_shared<VisualModel>(highResSurfMesh);
+ surfMeshModel->setRenderMaterial(material);
+
+ // Setup the Object
+ pbdObj->addVisualModel(surfMeshModel);
+ pbdObj->setCollidingGeometry(coarseSurfMesh);
+ pbdObj->setPhysicsGeometry(coarseTetMesh);
+ pbdObj->setPhysicsToCollidingMap(std::make_shared<OneToOneMap>(coarseTetMesh, coarseSurfMesh));
+ pbdObj->setPhysicsToVisualMap(std::make_shared<TetraTriangleMap>(coarseTetMesh, highResSurfMesh));
+ pbdObj->setDynamicalModel(pbdModel);
+
+ return pbdObj;
+}
+
+static std::shared_ptr<PbdObject>
+makeStairsPbdObject(const std::string& name, int numSteps, double width, double height, double depth)
+{
+ auto stairObj = std::make_shared<PbdObject>(name);
+
+ std::shared_ptr<SurfaceMesh> stairMesh(std::move(buildStairs(numSteps, width, height, depth)));
+
+ // Setup the parameters
+ auto pbdParams = std::make_shared<PBDModelConfig>();
+ pbdParams->m_uniformMassValue = 0.0;
+ pbdParams->collisionParams->m_proximity = -0.1;
+ pbdParams->m_iterations = 0;
+
+ // Setup the model
+ auto pbdModel = std::make_shared<PbdModel>();
+ pbdModel->setModelGeometry(stairMesh);
+ pbdModel->configure(pbdParams);
+
+ // Setup the VisualModel
+ auto stairMaterial = std::make_shared<RenderMaterial>();
+ stairMaterial->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+ auto stairMeshModel = std::make_shared<VisualModel>(stairMesh);
+ stairMeshModel->setRenderMaterial(stairMaterial);
+
+ stairObj->addVisualModel(stairMeshModel);
+ stairObj->setDynamicalModel(pbdModel);
+ stairObj->setCollidingGeometry(stairMesh);
+ stairObj->setVisualGeometry(stairMesh);
+ stairObj->setPhysicsGeometry(stairMesh);
+
+ return stairObj;
+}
+
///
/// \brief This example demonstrates the collision interaction
/// using Position based dynamic on a more complex mesh
@@ -100,96 +182,25 @@ int
main()
{
auto simManager = std::make_shared<SimulationManager>();
- auto scene = simManager->createNewScene("PbdCollision");
+ auto scene = simManager->createNewScene("PbdStairsCollision");
scene->getCamera()->setPosition(0.0, 0.0, -30.0);
scene->getCamera()->setFocalPoint(0.0, 0.0, 0.0);
- auto deformableObj = std::make_shared<PbdObject>("DeformableObj");
- {
- // Read in the dragon mesh
- auto highResSurfMesh = std::dynamic_pointer_cast<SurfaceMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj"));
- auto coarseTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg"));
- highResSurfMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
- coarseTetMesh->translate(Vec3d(0.0f, 10.0f, 0.0f), Geometry::TransformType::ApplyToData);
- auto coarseSurfMesh = std::make_shared<SurfaceMesh>();
- coarseTetMesh->extractSurfaceMesh(coarseSurfMesh, true);
-
- // Setup parameters
- auto pbdParams = std::make_shared<PBDModelConfig>();
- pbdParams->m_YoungModulus = 1000.0;
- pbdParams->m_PoissonRatio = 0.3;
- pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet,
- PbdFEMConstraint::MaterialType::StVK);
- pbdParams->m_uniformMassValue = 1.0;
- pbdParams->m_gravity = Vec3d(0, -10.0, 0);
- pbdParams->m_DefaultDt = 0.01;
- pbdParams->m_maxIter = 5;
- pbdParams->m_proximity = 0.3;
- pbdParams->m_contactStiffness = 0.1;
-
- // Setup Model
- auto pbdModel = std::make_shared<PbdModel>();
- pbdModel->setModelGeometry(coarseTetMesh);
- pbdModel->configure(pbdParams);
-
- // Setup VisualModel
- auto material = std::make_shared<RenderMaterial>();
- material->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- auto surfMeshModel = std::make_shared<VisualModel>(highResSurfMesh);
- surfMeshModel->setRenderMaterial(material);
-
- // Setup Object
- deformableObj->addVisualModel(surfMeshModel);
- deformableObj->setCollidingGeometry(coarseSurfMesh);
- deformableObj->setPhysicsGeometry(coarseTetMesh);
- deformableObj->setPhysicsToCollidingMap(std::make_shared<OneToOneMap>(coarseTetMesh, coarseSurfMesh));
- deformableObj->setPhysicsToVisualMap(std::make_shared<TetraTriangleMap>(coarseTetMesh, highResSurfMesh));
- deformableObj->setDynamicalModel(pbdModel);
-
- // Add to scene
- scene->addSceneObject(deformableObj);
- }
+ // Create and add the dragon to the scene
+ auto pbdDragon1 = makeDragonPbdObject("PbdDragon1");
+ scene->addSceneObject(pbdDragon1);
- auto stairObj = std::make_shared<PbdObject>("Floor");
- {
- std::shared_ptr<SurfaceMesh> stairMesh(std::move(buildStairs(15, 20.0, 10.0, 20.0)));
-
- // Setup parameters
- auto pbdParams2 = std::make_shared<PBDModelConfig>();
- pbdParams2->m_uniformMassValue = 0.0;
- pbdParams2->m_proximity = 0.1;
- pbdParams2->m_contactStiffness = 1.0;
- pbdParams2->m_maxIter = 0;
-
- // Setup model
- auto pbdModel2 = std::make_shared<PbdModel>();
- pbdModel2->setModelGeometry(stairMesh);
- pbdModel2->configure(pbdParams2);
-
- // Setup VisualModel
- auto stairMaterial = std::make_shared<RenderMaterial>();
- stairMaterial->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
- auto stairMeshModel = std::make_shared<VisualModel>(stairMesh);
- stairMeshModel->setRenderMaterial(stairMaterial);
-
- stairObj->addVisualModel(stairMeshModel);
- stairObj->setDynamicalModel(pbdModel2);
- stairObj->setCollidingGeometry(stairMesh);
- stairObj->setVisualGeometry(stairMesh);
- stairObj->setPhysicsGeometry(stairMesh);
-
- scene->addSceneObject(stairObj);
- }
+ auto stairObj = makeStairsPbdObject("PbdStairs", 12, 20.0, 10.0, 20.0);
+ scene->addSceneObject(stairObj);
// Collision
- scene->getCollisionGraph()->addInteractionPair(deformableObj, stairObj,
- CollisionDetection::Type::MeshToMeshBruteForce,
- CollisionHandling::Type::PBD,
- CollisionHandling::Type::None);
+ scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(pbdDragon1, stairObj,
+ InteractionType::PbdObjToPbdObj_Collision, CollisionDetection::Type::MeshToMeshBruteForce));
// Light
- auto light = std::make_shared<DirectionalLight>("light");
- light->setFocalPoint(Vec3d(5, -8, 5));
+ auto light = std::make_shared<DirectionalLight>("Light");
+ light->setFocalPoint(Vec3d(5.0, -8.0, 5.0));
+ light->setIntensity(1.0);
scene->addLight(light);
simManager->setActiveScene(scene);
diff --git a/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp b/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
index 46f8788b6..b52a57a9e 100644
--- a/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
+++ b/Examples/PBD/PBDDeformableObject/PBD3DDeformableObject.cpp
@@ -27,7 +27,6 @@
#include "imstkOneToOneMap.h"
#include "imstkAPIUtilities.h"
#include "imstkTetraTriangleMap.h"
-#include "imstkCollisionGraph.h"
#include "imstkSurfaceMesh.h"
#include "imstkCamera.h"
#include "imstkPlane.h"
@@ -67,15 +66,15 @@ main()
auto pbdParams = std::make_shared<PBDModelConfig>();
// FEM constraint
- pbdParams->m_YoungModulus = 100.0;
- pbdParams->m_PoissonRatio = 0.3;
+ pbdParams->femParams->m_YoungModulus = 100.0;
+ pbdParams->femParams->m_PoissonRatio = 0.3;
pbdParams->m_fixedNodeIds = { 51, 127, 178 };
pbdParams->enableFEMConstraint(PbdConstraint::Type::FEMTet, PbdFEMConstraint::MaterialType::StVK);
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_maxIter = 45;
+ pbdParams->m_iterations = 45;
// Set the parameters
pbdModel->configure(pbdParams);
@@ -87,8 +86,6 @@ main()
deformableObj->setPhysicsGeometry(tetMesh);
deformableObj->setPhysicsToVisualMap(map); //assign the computed map
- deformableObj->setDynamicalModel(pbdModel);
-
scene->addSceneObject(deformableObj);
// Setup plane
diff --git a/Examples/PBD/PBDFluids/PBDFluidsExample.cpp b/Examples/PBD/PBDFluids/PBDFluidsExample.cpp
index 50e7ee13e..46c002e16 100644
--- a/Examples/PBD/PBDFluids/PBDFluidsExample.cpp
+++ b/Examples/PBD/PBDFluids/PBDFluidsExample.cpp
@@ -19,18 +19,19 @@
=========================================================================*/
-#include "imstkSimulationManager.h"
-#include "imstkCollisionGraph.h"
+#include "imstkAPIUtilities.h"
#include "imstkCamera.h"
+#include "imstkCollisionGraph.h"
#include "imstkLight.h"
#include "imstkMeshIO.h"
-#include "imstkPbdModel.h"
-#include "imstkPbdObject.h"
-#include "imstkAPIUtilities.h"
#include "imstkMeshToMeshBruteForceCD.h"
+#include "imstkObjectInteractionFactory.h"
#include "imstkPBDCollisionHandling.h"
-#include "imstkSurfaceMesh.h"
+#include "imstkPbdModel.h"
+#include "imstkPbdObject.h"
#include "imstkScene.h"
+#include "imstkSimulationManager.h"
+#include "imstkSurfaceMesh.h"
using namespace imstk;
@@ -76,10 +77,9 @@ main()
// Other parameters
pbdParams->m_uniformMassValue = 1.0;
pbdParams->m_gravity = Vec3d(0, -9.8, 0);
- pbdParams->m_DefaultDt = 0.01;
- pbdParams->m_maxIter = 2;
- pbdParams->m_proximity = 0.01;
- pbdParams->m_contactStiffness = 0.2;
+ pbdParams->m_defaultDt = 0.01;
+ pbdParams->m_iterations = 2;
+ pbdParams->collisionParams->m_proximity = 0.01;
// Set the parameters
pbdModel->configure(pbdParams);
@@ -211,8 +211,7 @@ main()
// Configure model
auto pbdParams2 = std::make_shared<PBDModelConfig>();
pbdParams2->m_uniformMassValue = 0.0;
- pbdParams2->m_proximity = 0.1;
- pbdParams2->m_contactStiffness = 1.0;
+ pbdParams2->collisionParams->m_proximity = 0.1;
pbdModel2->configure(pbdParams2);
floor->setDynamicalModel(pbdModel2);
@@ -220,11 +219,8 @@ main()
scene->addSceneObject(floor);
// Collisions
- auto colGraph = scene->getCollisionGraph();
- auto CD = std::make_shared<MeshToMeshBruteForceCD>(fluidMesh, floorMeshColliding, nullptr);
- auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::A,
- CD->getCollisionData(), deformableObj, floor);
- colGraph->addInteractionPair(deformableObj, floor, CD, CH, nullptr);
+ scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(deformableObj, floor,
+ InteractionType::PbdObjToPbdObj_Collision, CollisionDetection::Type::MeshToMeshBruteForce));
// Light (white)
auto whiteLight = std::make_shared<DirectionalLight>("whiteLight");
diff --git a/Examples/PBD/PBDString/pbdStringExample.cpp b/Examples/PBD/PBDString/pbdStringExample.cpp
index 94a4a4a41..9d34aa312 100644
--- a/Examples/PBD/PBDString/pbdStringExample.cpp
+++ b/Examples/PBD/PBDString/pbdStringExample.cpp
@@ -25,7 +25,6 @@
#include "imstkPbdObject.h"
#include "imstkSimulationManager.h"
#include "imstkSceneManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkCamera.h"
#include "imstkScene.h"
@@ -97,8 +96,8 @@ main()
sims[i].params->m_fixedNodeIds = { 0 };
sims[i].params->m_uniformMassValue = 5.0;
sims[i].params->m_gravity = Vec3d(0, -9.8, 0);
- sims[i].params->m_DefaultDt = 0.0005;
- sims[i].params->m_maxIter = 5;
+ sims[i].params->m_defaultDt = 0.0005;
+ sims[i].params->m_iterations = 5;
// Set the parameters
sims[i].model->configure(sims[i].params);
diff --git a/Examples/Rendering/RenderingExample.cpp b/Examples/Rendering/RenderingExample.cpp
index 2d5ff2a29..e9ba71efc 100644
--- a/Examples/Rendering/RenderingExample.cpp
+++ b/Examples/Rendering/RenderingExample.cpp
@@ -22,7 +22,6 @@
#include "imstkSimulationManager.h"
#include "imstkAPIUtilities.h"
#include "imstkVisualObjectImporter.h"
-#include "imstkCollisionGraph.h"
#include "imstkIBLProbe.h"
#include "imstkCamera.h"
#include "imstkLight.h"
diff --git a/Examples/SPHFluid/Fluid.hpp b/Examples/SPHFluid/Fluid.hpp
index 48ab27fa6..4b9eb3702 100644
--- a/Examples/SPHFluid/Fluid.hpp
+++ b/Examples/SPHFluid/Fluid.hpp
@@ -21,7 +21,6 @@
#include "imstkSimulationManager.h"
#include "imstkSPHObject.h"
-#include "imstkSPHSolver.h"
#include "imstkSPHModel.h"
#include "imstkPointSet.h"
#include "imstkScene.h"
@@ -175,10 +174,5 @@ generateFluid(const std::shared_ptr<Scene>& scene, const double particleRadius)
fluidObj->setPhysicsGeometry(fluidGeometry); // TODO: Look into API duplication and resulting conflicts
scene->addSceneObject(fluidObj);
- // Configure the solver
- auto sphSolver = std::make_shared<SPHSolver>();
- sphSolver->setSPHObject(fluidObj);
- scene->addNonlinearSolver(sphSolver);
-
return fluidObj;
}
diff --git a/Examples/SPHFluid/SPHFluidExample.hpp b/Examples/SPHFluid/SPHFluidExample.hpp
index d86ee4588..4111cc156 100644
--- a/Examples/SPHFluid/SPHFluidExample.hpp
+++ b/Examples/SPHFluid/SPHFluidExample.hpp
@@ -31,6 +31,7 @@
#include "imstkCollisionGraph.h"
#include "imstkSceneManager.h"
#include "imstkCamera.h"
+#include "imstkObjectInteractionFactory.h"
#include "Fluid.hpp"
#include "Solid.hpp"
@@ -101,23 +102,18 @@ main(int argc, char* argv[])
});
// Collision between fluid and solid objects
- auto colGraph = scene->getCollisionGraph();
-
+ std::shared_ptr<CollisionGraph> collisionGraph = scene->getCollisionGraph();
for (auto& solid: solids)
{
if (std::dynamic_pointer_cast<Plane>(solid->getCollidingGeometry()))
{
- colGraph->addInteractionPair(fluidObj, solid,
- CollisionDetection::Type::PointSetToPlane,
- CollisionHandling::Type::SPH,
- CollisionHandling::Type::None);
+ collisionGraph->addInteraction(makeObjectInteractionPair(fluidObj, solid,
+ InteractionType::SphObjToCollidingObj_Collision, CollisionDetection::Type::PointSetToPlane));
}
else if (std::dynamic_pointer_cast<Sphere>(solid->getCollidingGeometry()))
{
- colGraph->addInteractionPair(fluidObj, solid,
- CollisionDetection::Type::PointSetToSphere,
- CollisionHandling::Type::SPH,
- CollisionHandling::Type::None);
+ collisionGraph->addInteraction(makeObjectInteractionPair(fluidObj, solid,
+ InteractionType::SphObjToCollidingObj_Collision, CollisionDetection::Type::PointSetToSphere));
}
else
{
diff --git a/Examples/SceneManagement/SceneManagementExample.cpp b/Examples/SceneManagement/SceneManagementExample.cpp
index 45418a5f9..f0c4668a3 100644
--- a/Examples/SceneManagement/SceneManagementExample.cpp
+++ b/Examples/SceneManagement/SceneManagementExample.cpp
@@ -19,10 +19,10 @@
=========================================================================*/
-#include "imstkSimulationManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkCamera.h"
+#include "imstkCollisionGraph.h"
#include "imstkScene.h"
+#include "imstkSimulationManager.h"
using namespace imstk;
diff --git a/Examples/Screenshot/ScreenshotExample.cpp b/Examples/Screenshot/ScreenshotExample.cpp
index b34ce731d..9b88ed1ac 100644
--- a/Examples/Screenshot/ScreenshotExample.cpp
+++ b/Examples/Screenshot/ScreenshotExample.cpp
@@ -21,7 +21,6 @@
#include "imstkSimulationManager.h"
#include "imstkSceneObject.h"
-#include "imstkCollisionGraph.h"
#include "imstkCamera.h"
#include "imstkLight.h"
#include "imstkCube.h"
diff --git a/Examples/VolumeRendering/VolumeRenderingExample.cpp b/Examples/VolumeRendering/VolumeRenderingExample.cpp
index f5d5dff50..97e96ed9d 100644
--- a/Examples/VolumeRendering/VolumeRenderingExample.cpp
+++ b/Examples/VolumeRendering/VolumeRenderingExample.cpp
@@ -28,7 +28,6 @@
#include "imstkVolumeRenderMaterialPresets.h"
#include "imstkVTKTextStatusManager.h"
#include "imstkSceneManager.h"
-#include "imstkCollisionGraph.h"
#include "imstkScene.h"
#include "imstkVTKRenderer.h"
--
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