ENH: CDHRefactor

CMake/External/External_SCCD.cmake

-#-----------------------------------------------------------------------------
-# Add External Project
-#-----------------------------------------------------------------------------
-include(imstkAddExternalProject)
-imstk_define_external_dirs( SCCD )
-
-if(MSVC)
-  set(config_dir "$(Configuration)")
-endif()
-
-set(copy_sccd_headers_command
-  ${CMAKE_COMMAND} -E copy_directory
-  ${SCCD_SOURCE_DIR}/inc
-  ${CMAKE_INSTALL_PREFIX}/include/sccd
-  )
-if(WIN32)
-  set(copy_sccd_lib_command
-    ${CMAKE_COMMAND} -E copy
-    ${SCCD_BINARY_DIR}/src/${config_dir}/sccd$<$<CONFIG:Debug>:d>.lib
-    ${CMAKE_INSTALL_PREFIX}/lib
-    )
-else()
-  set(copy_sccd_lib_command
-    ${CMAKE_COMMAND} -E copy
-    ${SCCD_BINARY_DIR}/src/${config_dir}/libsccd$<$<CONFIG:Debug>:d>.a
-    ${CMAKE_INSTALL_PREFIX}/lib
-    )
-endif()
-
-
-imstk_add_external_project( SCCD
-  URL https://gitlab.kitware.com/iMSTK/SCCD/-/archive/addressWarnings/SCCD-addressWarnings.zip
-  URL_MD5 a45b33df99ea3e7ad85340afe8dcc489
-  CMAKE_CACHE_ARGS
-    -DBUILD_SAMPLE_APP:BOOL=OFF
-  RELATIVE_INCLUDE_PATH "inc"
-  INSTALL_COMMAND
-    COMMAND ${copy_sccd_headers_command}
-    COMMAND ${copy_sccd_lib_command}
-  DEPENDENCIES
-    Eigen3
-  #VERBOSE
-)

CMake/FindSCCD.cmake

-include(imstkFind)
-#-----------------------------------------------------------------------------
-# Find All Headers and Libraries for SCCD
-#-----------------------------------------------------------------------------
-
-imstk_find_header(SCCD ccdAPI.h sccd)
-imstk_find_libary(SCCD sccd)
-imstk_find_package(SCCD)
-
-#message(STATUS "SCCD include : ${SCCD_INCLUDE_DIRS}")
-#message(STATUS "SCCD libraries : ${SCCD_LIBRARIES}")

CMake/iMSTKConfig.cmake.in

@@ -56,9 +56,6 @@ if (iMSTK_USE_PHYSX)
   find_package(PhysX REQUIRED)
 endif()
 
-#SCCD
-find_package( SCCD REQUIRED )
-
 # SFML
 if(WIN32)
   find_package( SFML REQUIRED )

CMakeLists.txt

@@ -147,7 +147,6 @@ if(${PROJECT_NAME}_SUPERBUILD)
   if (${PROJECT_NAME}_USE_PHYSX)
     imstk_define_dependency(PhysX)
   endif()
-  imstk_define_dependency(SCCD)
   imstk_define_dependency(tbb)
   imstk_define_dependency(VegaFEM)
   imstk_define_dependency(VTK)
@@ -235,9 +234,6 @@ if (${PROJECT_NAME}_USE_PHYSX)
   find_package(PhysX REQUIRED)
 endif()
 
-# SCCD
-find_package( SCCD REQUIRED )
-
 # SFML
 if(APPLE OR LINUX)
   remove_definitions( -DiMSTK_AUDIO_ENABLED )

Data/Surgical Instruments/Syringes/Disposable_Syringe.stl.sha512

+8d7fefd9b6e7f114f6812e99cf8348504fb17ddfd82c5102e61cd3875397da2c471651bf455b30658e2a2cf0615f0db25c662328c5f3556856d61c97dcfed31d
\ No newline at end of file

Examples/BoneShaving/BoneShavingExample.cpp

@@ -20,20 +20,20 @@
 =========================================================================*/
 
 #include "imstkCamera.h"
-#include "imstkCollidingObject.h"
 #include "imstkCollisionGraph.h"
+#include "imstkDirectionalLight.h"
 #include "imstkHapticDeviceClient.h"
 #include "imstkHapticDeviceManager.h"
 #include "imstkKeyboardSceneControl.h"
-#include "imstkDirectionalLight.h"
-#include "imstkLogger.h"
 #include "imstkMeshIO.h"
 #include "imstkMouseSceneControl.h"
 #include "imstkNew.h"
 #include "imstkObjectInteractionFactory.h"
+#include "imstkRigidBodyModel2.h"
+#include "imstkRigidObject2.h"
+#include "imstkRigidObjectController.h"
 #include "imstkScene.h"
 #include "imstkSceneManager.h"
-#include "imstkSceneObjectController.h"
 #include "imstkSimulationManager.h"
 #include "imstkSphere.h"
 #include "imstkTetrahedralMesh.h"
@@ -62,6 +62,7 @@ main()
     // Create bone scene object
     // Load the mesh
     auto tetMesh = MeshIO::read<TetrahedralMesh>(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg");
+    tetMesh->translate(Vec3d(0.0, -10.0, 0.0));
     if (!tetMesh)
     {
         LOG(FATAL) << "Could not read mesh from file.";
@@ -73,19 +74,30 @@ main()
     scene->addSceneObject(bone);
 
     // Create a virtual coupling object: Drill
-    imstkNew<Sphere>          drillGeom(Vec3d(0.0, 0.0, 0.0), 3.0);
-    imstkNew<CollidingObject> drill("Drill");
+    imstkNew<Sphere>       drillGeom(Vec3d(0.0, 0.0, 0.0), 3.0);
+    imstkNew<RigidObject2> drill("Drill");
     drill->setCollidingGeometry(drillGeom);
     drill->setVisualGeometry(drillGeom);
+    drill->setPhysicsGeometry(drillGeom);
+    imstkNew<RigidBodyModel2> rbdModel;
+    rbdModel->getConfig()->m_gravity = Vec3d(0.0, 0.0, 0.0);
+    rbdModel->getConfig()->m_dt      = 0.01;
+    drill->setDynamicalModel(rbdModel);
     scene->addSceneObject(drill);
 
     // Create and add virtual coupling object controller in the scene
-    imstkNew<SceneObjectController> controller(drill, client);
+    imstkNew<RigidObjectController> controller(drill, client);
+    controller->setLinearKs(100.0);
+    controller->setLinearKd(10.0);
+    controller->setAngularKs(0.0);
+    controller->setAngularKd(0.0);
     scene->addController(controller);
 
     // Add interaction
     scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(bone, drill,
-        InteractionType::CollidingObjToCollidingObjBoneDrilling, CollisionDetection::Type::PointSetToSphere));
+        InteractionType::RbdObjCollision, "PointSetToSphereCD"));
+    /*scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(bone, drill,
+        InteractionType::BoneDrilling, "PointSetToSphereCD"));*/
 
     // Light
     imstkNew<DirectionalLight> light;

Examples/CameraController/CMakeLists.txt

@@ -33,11 +33,4 @@ if(iMSTK_USE_OpenHaptics)
     # Link libraries to executable
     #-----------------------------------------------------------------------------
     target_link_libraries(${PROJECT_NAME} SimulationManager)
-
-    #-----------------------------------------------------------------------------
-    # Associate external data
-    #-----------------------------------------------------------------------------
-    list(APPEND FILE_LIST
-        asianDragon/,REGEX:.*)
-    imstk_add_data(${PROJECT_NAME} ${FILE_LIST})
 endif()

Examples/CollisionDetection/BoxBoxMeshTest/BoxBoxMeshTestExample.cpp

+/*=========================================================================
+
+   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 "imstkCollidingObject.h"
+#include "imstkCollisionDataDebugObject.h"
+#include "imstkGeometryUtilities.h"
+#include "imstkKeyboardDeviceClient.h"
+#include "imstkKeyboardSceneControl.h"
+#include "imstkMeshToMeshBruteForceCD.h"
+#include "imstkMouseSceneControl.h"
+#include "imstkNew.h"
+#include "imstkOrientedBox.h"
+#include "imstkRenderMaterial.h"
+#include "imstkScene.h"
+#include "imstkSceneManager.h"
+#include "imstkSimulationManager.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkVisualModel.h"
+#include "imstkVTKRenderer.h"
+#include "imstkVTKViewer.h"
+
+using namespace imstk;
+
+int
+main()
+{
+    // Setup logger (write to file and stdout)
+    Logger::startLogger();
+
+    // Create a box mesh
+    imstkNew<OrientedBox> box1(Vec3d::Zero(), Vec3d(0.5, 0.5, 0.5), Quatd::Identity());
+    imstkNew<OrientedBox> box2(Vec3d::Zero(), Vec3d(0.4, 0.4, 0.4), Quatd::Identity());
+
+    std::shared_ptr<SurfaceMesh> box1Mesh = GeometryUtils::toSurfaceMesh(box1);
+    std::shared_ptr<SurfaceMesh> box2Mesh = GeometryUtils::toSurfaceMesh(box2);
+    box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), PI_2 * 0.5);
+    box2Mesh->rotate(Vec3d(1.0, 0.0, 0.0), PI_2 * 0.5);
+    box2Mesh->translate(Vec3d(0.0, 0.8, 0.8));
+
+    // Setup the scene
+    imstkNew<Scene> scene("BoxBoxMeshTest");
+    scene->getActiveCamera()->setPosition(0.073, 1.743, 3.679);
+    scene->getActiveCamera()->setFocalPoint(0.333, 0.333, 0.25);
+    scene->getActiveCamera()->setViewUp(0.041, 0.928, -0.371);
+
+    imstkNew<CollidingObject> obj1("obj1");
+    obj1->setVisualGeometry(box1Mesh);
+    obj1->setCollidingGeometry(box1Mesh);
+    obj1->getVisualModel(0)->getRenderMaterial()->setOpacity(0.5);
+    obj1->getVisualModel(0)->getRenderMaterial()->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+    scene->addSceneObject(obj1);
+
+    imstkNew<CollidingObject> obj2("obj2");
+    obj2->setVisualGeometry(box2Mesh);
+    obj2->setCollidingGeometry(box2Mesh);
+    obj2->getVisualModel(0)->getRenderMaterial()->setOpacity(0.5);
+    obj2->getVisualModel(0)->getRenderMaterial()->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
+    scene->addSceneObject(obj2);
+
+    imstkNew<MeshToMeshBruteForceCD> cd;
+    cd->setInputGeometryA(box1Mesh);
+    cd->setInputGeometryB(box2Mesh);
+    cd->setGenerateEdgeEdgeContacts(true);
+    cd->update();
+
+    // Debug Collision Geometry
+    imstkNew<CollisionDataDebugObject> cdDebugObj;
+    cdDebugObj->setInputCD(cd->getCollisionData());
+    cdDebugObj->setPrintContacts(true);
+    scene->addSceneObject(cdDebugObj);
+
+    // Run the simulation
+    {
+        // Setup a viewer to render
+        imstkNew<VTKViewer> viewer("Viewer");
+        viewer->setActiveScene(scene);
+        std::dynamic_pointer_cast<VTKRenderer>(viewer->getActiveRenderer())->setAxesLength(0.05, 0.05, 0.05);
+
+        // Setup a scene manager to advance the scene
+        imstkNew<SceneManager> sceneManager("Scene Manager");
+        sceneManager->setActiveScene(scene);
+        sceneManager->init();
+        sceneManager->update();
+
+        cdDebugObj->debugUpdate();
+
+        connect<KeyEvent>(viewer->getKeyboardDevice(), &KeyboardDeviceClient::keyPress, [&](KeyEvent* e)
+        {
+            const double s = 0.05;
+            if (e->m_key == 'i')
+            {
+                box2Mesh->translate(Vec3d(0.0, 0.0, 1.0) * s);
+            }
+            else if (e->m_key == 'k')
+            {
+                box2Mesh->translate(Vec3d(0.0, 0.0, -1.0) * s);
+            }
+            else if (e->m_key == 'j')
+            {
+                box2Mesh->translate(Vec3d(-1.0, 0.0, 0.0) * s);
+            }
+            else if (e->m_key == 'l')
+            {
+                box2Mesh->translate(Vec3d(1.0, 0.0, 0.0) * s);
+            }
+            else if (e->m_key == 'u')
+            {
+                box2Mesh->translate(Vec3d(0.0, -1.0, 0.0) * s);
+            }
+            else if (e->m_key == 'o')
+            {
+                box2Mesh->translate(Vec3d(0.0, 1.0, 0.0) * s);
+            }
+            else if (e->m_key == '1')
+            {
+                box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), 0.1);
+            }
+            else if (e->m_key == '2')
+            {
+                box2Mesh->rotate(Vec3d(0.0, 0.0, 1.0), -0.1);
+            }
+            else if (e->m_key == '3')
+            {
+                box2Mesh->rotate(Vec3d(0.0, 1.0, 0.0), 0.1);
+            }
+            else if (e->m_key == '4')
+            {
+                box2Mesh->rotate(Vec3d(0.0, 1.0, 0.0), -0.1);
+            }
+            box2Mesh->postModified();
+            box2Mesh->updatePostTransformData();
+            cd->update();
+            sceneManager->update();
+            cdDebugObj->debugUpdate();
+        });
+
+        imstkNew<SimulationManager> driver;
+        driver->addModule(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->setModuleDriver(driver);
+            viewer->addControl(keyControl);
+        }
+
+        driver->start();
+    }
+
+    return 0;
+}

Examples/CollisionDetection/BoxBoxMeshTest/CMakeLists.txt

+###########################################################################
+#
+# 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-BoxBoxMeshTest)
+
+#-----------------------------------------------------------------------------
+# Create executable
+#-----------------------------------------------------------------------------
+imstk_add_executable(${PROJECT_NAME} BoxBoxMeshTestExample.cpp)
+
+#-----------------------------------------------------------------------------
+# Add the target to Examples folder
+#-----------------------------------------------------------------------------
+SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/CollisionDetection)
+
+#-----------------------------------------------------------------------------
+# Link libraries to executable
+#-----------------------------------------------------------------------------
+target_link_libraries(${PROJECT_NAME} SimulationManager)

Examples/CollisionDetection/ManualCDWithOctree/CMakeLists.txt → Examples/CollisionDetection/OctreeIntersection/CMakeLists.txt

@@ -16,21 +16,21 @@
 #
 ###########################################################################
 
-project(Example-CD-ManualCDWithOctree)
+project(Example-OctreeIntersection)
 
 #-----------------------------------------------------------------------------
 # Create executable
 #-----------------------------------------------------------------------------
-imstk_add_executable(${PROJECT_NAME} ManualCDWithOctreeExample.cpp 
-../Sphere.cpp 
-../Box.cpp 
-../Triangle.cpp 
-../BunnyMesh.cpp)
+imstk_add_executable(${PROJECT_NAME}
+	OctreeIntersectionExample.cpp
+	../BunnyMesh.cpp
+	OctreeDebugObject.h
+	OctreeDebugObject.cpp)
 
 #-----------------------------------------------------------------------------
 # Add the target to Examples folder
 #-----------------------------------------------------------------------------
-SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
+SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples/CollisionDetection)
 
 #-----------------------------------------------------------------------------
 # Link libraries to executable

Examples/CollisionDetection/OctreeIntersection/OctreeDebugObject.cpp

+/*=========================================================================
+
+   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 "OctreeDebugObject.h"
+#include "imstkLooseOctree.h"
+
+namespace imstk
+{
+bool
+OctreeDebugObject::updateGeom(OctreeNode* node)
+{
+    if (node->m_Depth > m_maxDisplayDepth)
+    {
+        return false;
+    }
+
+    // Compute the current nodes vertices
+    // Which nodes are rendered
+    // The amount of child nodes rendered
+    int   renderCount = 0;
+    Vec3d vertices[8];
+    bool  rendered[8]{ false, false, false, false,
+                       false, false, false, false };
+
+    // Recurse down the tree so long as the current node isn't a leaf
+    for (int i = 0; i < 8; i++)
+    {
+        vertices[i]     = node->m_Center;
+        vertices[i][0] += (i & 1) ? node->m_HalfWidth : -node->m_HalfWidth;
+        vertices[i][1] += (i & 2) ? node->m_HalfWidth : -node->m_HalfWidth;
+        vertices[i][2] += (i & 4) ? node->m_HalfWidth : -node->m_HalfWidth;
+
+        if (!node->isLeaf())
+        {
+            rendered[i]  = updateGeom(&node->m_pChildren->m_Nodes[i]);
+            renderCount += static_cast<int>(rendered[i]);
+        }
+    }
+
+    //--------------------------------------------------------
+    //
+    //           6-------7
+    //          /|      /|
+    //         2-+-----3 |
+    //         | |     | |   y
+    //         | 4-----+-5   | z
+    //         |/      |/    |/
+    //         0-------1     +--x
+    //
+    //         0   =>   0, 0, 0
+    //         1   =>   0, 0, 1
+    //         2   =>   0, 1, 0
+    //         3   =>   0, 1, 1
+    //         4   =>   1, 0, 0
+    //         5   =>   1, 0, 1
+    //         6   =>   1, 1, 0
+    //         7   =>   1, 1, 1
+    //
+    //--------------------------------------------------------
+
+    // If the current node is empty
+    if (node->m_PrimitiveCounts[OctreePrimitiveType::Point] == 0
+        && node->m_PrimitiveCounts[OctreePrimitiveType::Triangle] == 0
+        && node->m_PrimitiveCounts[OctreePrimitiveType::Analytical] == 0)
+    {
+        // If we shouldn't draw empty parents
+        if (!m_drawNonEmptyParents)
+        {
+            // So long as no child is rendered
+            return renderCount > 0;
+        }
+
+        if (renderCount == 0                         // Children did not render
+            && node->m_pTree->getRootNode() != node) // Not root node, and no data in this node)
+        {
+            return false;
+        }
+    }
+
+    if (renderCount < 8)  // If renderCount == 8 then no need to render this node
+    {
+        //const auto& debugLines = node->m_pTree->m_DebugGeometry;
+        for (int i = 0; i < 8; i++)
+        {
+            if ((i & 1) && (!rendered[i] || !rendered[i - 1]))
+            {
+                addLine(vertices[i], vertices[i - 1]);
+            }
+            if ((i & 2) && (!rendered[i] || !rendered[i - 2]))
+            {
+                addLine(vertices[i], vertices[i - 2]);
+            }
+            if ((i & 4) && (!rendered[i] || !rendered[i - 4]))
+            {
+                addLine(vertices[i], vertices[i - 4]);
+            }
+        }
+    }
+    return true;
+}
+
+void
+OctreeDebugObject::debugUpdate(int maxDisplayDepth, bool drawNonEmptyParents)
+{
+    m_maxDisplayDepth     = maxDisplayDepth;
+    m_drawNonEmptyParents = drawNonEmptyParents;
+
+    // Clear the geometry
+    clear();
+
+    if (m_looseOctree != nullptr)
+    {
+        // Buffer the vertices and indices for lines to avoid reallocations
+
+        // Update the geometry, recursively appending for each node
+        updateGeom(m_looseOctree->getRootNode());
+    }
+}
+}
\ No newline at end of file

Source/Rendering/VTKRenderer/RenderDelegate/imstkVTKdebugTrianglesRenderDelegate.h → Examples/CollisionDetection/OctreeIntersection/OctreeDebugObject.h

@@ -21,44 +21,47 @@
 
 #pragma once
 
-#include "imstkVTKPolyDataRenderDelegate.h"
-
-class vtkCellArray;
-class vtkDoubleArray;
-class vtkPoints;
-class vtkPolyData;
+#include "imstkDebugGeometryObject.h"
 
 namespace imstk
 {
-class SurfaceMesh;
+class LooseOctree;
+class OctreeNode;
 
 ///
-/// \class VTKdbgTrianglesRenderDelegate
+/// \class OctreeDebugObject
 ///
-/// \brief Render delegate for a set of disjoint triangles whose size could change
-///  more frequently which is typically he case for rendering arbitrary set of triangles
+/// \brief DebugGeometryObject for debug visualizing an octree
 ///
-class VTKdbgTrianglesRenderDelegate : public VTKPolyDataRenderDelegate
+class OctreeDebugObject : public DebugGeometryObject
 {
+public:
+    OctreeDebugObject() : DebugGeometryObject(),
+        m_looseOctree(nullptr),
+        m_maxDisplayDepth(5),
+        m_drawNonEmptyParents(true) { }
+    virtual ~OctreeDebugObject() override = default;
+
 public:
     ///
-    /// \brief Constructor
+