ENH: Refactor ObjectSimulator and

DefaultSimulator.

Simulators/DefaultSimulator.cpp

@@ -32,9 +32,9 @@
 
 DefaultSimulator::DefaultSimulator(  ) : ObjectSimulator( )
 {
-    this->addOperation([](std::vector<core::Vec3d>& array)
+    this->addOperation([](std::shared_ptr<MeshModel> &model)
     {
-        for(auto &x : array)
+        for(auto &x : model->getMesh()->getVertices())
         {
             x.array() += 0.000001;
         }
@@ -47,54 +47,24 @@ void DefaultSimulator::beginExecution()
 void DefaultSimulator::initialize()
 {
     //do nothing for now
-    for ( size_t i = 0; i < simulatedModels.size(); i++ )
-    {
-        auto object = simulatedModels[i];
-
-        switch ( object->getType() )
-        {
-            case core::ClassType::StaticSceneObject:
-            {
-                auto sceneObject = std::static_pointer_cast<StaticSceneObject>(object);
-                auto model = std::dynamic_pointer_cast<MeshCollisionModel>(sceneObject->getModel());
-                if(!model)
-                {
-                    std::cerr << "Unknown model type." << std::endl;
-                    break;
-                }
-                auto mesh = model->getMesh();
-
-                object->getLocalVertices().reserve( mesh->getNumberOfVertices() );
-                // WARNING:  Copy!!?
-                object->getLocalVertices() = mesh->getVertices();
-                object->getFlags().isSimulatorInit = true;
-                break;
-            }
-            default:
-                std::cerr << "Unknown scene object type." << std::endl;
-
-        }
-    }
 }
 void DefaultSimulator::run()
 {
     beginExecution();
 
-    for ( size_t i = 0; i < this->simulatedModels.size(); i++ )
+    for(auto &sceneModel : this->simulatedModels)
     {
-        auto sceneObj = this->simulatedModels[i];
-
-        //ensure that dummy simulator will work on static scene objects only.
-        if ( sceneObj->getType() == core::ClassType::StaticSceneObject )
+        for(auto &apply : this->operatorFunctions)
         {
-            auto sceneObject = std::static_pointer_cast<StaticSceneObject>(sceneObj);
-
-            for(auto apply : this->operatorFunctions)
+            auto meshModel = std::dynamic_pointer_cast<MeshModel>(sceneModel->getModel());
+            if(!meshModel)
             {
-                apply(sceneObject->getLocalVertices());
+                continue;
             }
-            this->updateHapticForces(sceneObject);
+            apply(meshModel);
         }
+
+        this->updateHapticForces(sceneModel);
     }
 
     endExecution();
@@ -105,25 +75,7 @@ void DefaultSimulator::endExecution()
 }
 void DefaultSimulator::syncBuffers()
 {
-    for ( size_t i = 0; i < this->simulatedModels.size(); i++ )
-    {
-        auto sceneObj = this->simulatedModels[i];
 
-        //ensure that dummy simulator will work on static scene objects only.
-        if ( sceneObj->getType() == core::ClassType::StaticSceneObject )
-        {
-            auto sceneObject = std::static_pointer_cast<StaticSceneObject>(sceneObj);
-            auto model = std::dynamic_pointer_cast<MeshCollisionModel>(sceneObject->getModel());
-            if(!model)
-            {
-                std::cerr << "Unknown model type." << std::endl;
-                break;
-            }
-            auto mesh = std::static_pointer_cast<MeshCollisionModel>(model)->getMesh();
-            // WARNING: Copy??!
-            mesh->getVertices() = sceneObject->getLocalVertices();
-        }
-    }
 }
 void DefaultSimulator::handleEvent(std::shared_ptr<core::Event> p_event )
 {
@@ -148,7 +100,7 @@ void DefaultSimulator::handleEvent(std::shared_ptr<core::Event> p_event )
     }
 }
 
-void DefaultSimulator::updateHapticForces(std::shared_ptr<StaticSceneObject> sceneObject)
+void DefaultSimulator::updateHapticForces(std::shared_ptr<SceneObject> sceneObject)
 {
     auto outputDevice = std::dynamic_pointer_cast<VRPNForceDevice>(this->hapticTool->getOutputDevice());
     if(!outputDevice)
@@ -190,5 +142,4 @@ void DefaultSimulator::updateHapticForces(std::shared_ptr<StaticSceneObject> sce
     outputDevice->setDynamicFriction(0.0);
     outputDevice->setSpringCoefficient(norm);
     outputDevice->setStaticFriction(0.0);
-
 }

Simulators/DefaultSimulator.h

@@ -32,10 +32,10 @@
 #include "Core/Config.h"
 #include "Simulators/ObjectSimulator.h"
 #include "Core/ErrorLog.h"
-#include <Core/Vector.h>
+#include "Core/Vector.h"
 
 class ToolCoupler;
-class StaticSceneObject;
+class MeshModel;
 ///
 /// \brief Default simulator that applies operations to the position array of the
 ///     undelying scene object model.
@@ -44,7 +44,7 @@ class StaticSceneObject;
 ///
 class DefaultSimulator: public ObjectSimulator
 {
-    typedef std::function<void(std::vector<core::Vec3d>&)> OperationType;
+    typedef std::function<void(std::shared_ptr<MeshModel> &sceneObject)> OperationType;
 public:
     /// \brief Constructor/Destructor
     DefaultSimulator();
@@ -66,7 +66,7 @@ protected:
     void syncBuffers() override;
     void handleEvent(std::shared_ptr<core::Event> p_event) override;
 
-    void updateHapticForces(std::shared_ptr<StaticSceneObject> sceneObject);
+    void updateHapticForces(std::shared_ptr<SceneObject> sceneObject);
 
 private:
     std::vector<OperationType> operatorFunctions;

Simulators/ObjectSimulator.cpp

@@ -22,6 +22,8 @@
 //---------------------------------------------------------------------------
 
 #include "Simulators/ObjectSimulator.h"
+#include "SceneModels/SceneObject.h"
+
 ObjectSimulator::ObjectSimulator():
     enabled(false),
     isObjectSimInitialized(false),
@@ -46,7 +48,7 @@ void ObjectSimulator::addObject(std::shared_ptr< SceneObject > model)
         return;
     }
 
-    model->objectSim = this->safeDownCast<ObjectSimulator>();
+    model->attachObjectSimulator(this->safeDownCast<ObjectSimulator>());
     this->simulatedModels.emplace_back(model);
 }
 
@@ -143,7 +145,18 @@ void ObjectSimulator::setTimeStep(const double newTimeStep)
 {
     this->timeStep = newTimeStep;
 }
+
+//---------------------------------------------------------------------------
 double ObjectSimulator::getTimeStep() const
 {
     return this->timeStep;
 }
+
+//---------------------------------------------------------------------------
+void ObjectSimulator::run()
+{
+    for(auto & model : this->simulatedModels)
+    {
+        model->update(this->timeStep);
+    }
+}

Simulators/ObjectSimulator.h

@@ -29,7 +29,6 @@
 #include "Core/CoreClass.h"
 #include "Core/Timer.h"
 #include "SimulationManager/Scheduler.h"
-#include "SceneModels/SceneObject.h"
 
 // Forward declarations
 class SceneObject;
@@ -112,12 +111,12 @@ public:
     ///
     double getTimeStep() const;
 
-protected:
-
     ///
     /// \brief Execute the simulation.
     ///
-    virtual void run() = 0;
+    virtual void run();
+
+protected:
 
     ///
     /// \brief  Called at the beginning of the simulator frame.