REFAC: PBDCollisionExample updated accordingly:

1) Visual Model Configuration
2) Swapped the Collision Interaction Pair since we only test Vert to Tri but not Tri to Vert
3) Adding pointer to the Solver to Collision Handler

Examples/PBDCollision/PBDCollisionExample.cpp

@@ -42,14 +42,14 @@ int main()
 	scene->getCamera()->setPosition(0, 10.0, 10.0);
 
 	// dragon
-	auto tetMesh = MeshIO::read(iMSTK_DATA_ROOT "/oneTet/oneTet.veg");
+	auto tetMesh = MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg");
 	if (!tetMesh)
 	{
 		LOG(WARNING) << "Could not read mesh from file.";
 		return 1;
 	}
-	tetMesh->scale(5., Geometry::TransformType::ApplyToData);
-	tetMesh->translate(Vec3d(0., -5., 0.) , Geometry::TransformType::ApplyToData);
+	//tetMesh->scale(5., Geometry::TransformType::ApplyToData);
+	//tetMesh->translate(Vec3d(0., -5., -5.) , Geometry::TransformType::ApplyToData);
 
 
 	auto surfMesh = std::make_shared<SurfaceMesh>();
@@ -64,7 +64,8 @@ int main()
 
 	auto material = std::make_shared<RenderMaterial>();
 	material->setDisplayMode(RenderMaterial::DisplayMode::WIREFRAME_SURFACE);
-	//surfMesh->setRenderMaterial(material);
+	auto surfMeshVisualModel = std::make_shared<VisualModel>(surfMesh);
+	surfMeshVisualModel->setRenderMaterial(material);
 
 	auto deformMapP2V = std::make_shared<OneToOneMap>();
 	deformMapP2V->setMaster(tetMesh);
@@ -82,7 +83,8 @@ int main()
 	deformMapP2C->compute();
 
 	auto deformableObj = std::make_shared<PbdObject>("Dragon");
-	deformableObj->setVisualGeometry(surfMesh);
+	//deformableObj->setVisualGeometry(surfMesh);
+	deformableObj->addVisualModel(surfMeshVisualModel);
 	deformableObj->setCollidingGeometry(surfMesh);
 	deformableObj->setPhysicsGeometry(volTetMesh);
 	deformableObj->setPhysicsToCollidingMap(deformMapP2C);
@@ -303,7 +305,8 @@ int main()
 
 		auto materialFloor = std::make_shared<RenderMaterial>();
 		materialFloor->setDisplayMode(RenderMaterial::DisplayMode::WIREFRAME_SURFACE);
-		//floorMesh->setRenderMaterial(materialFloor);
+		auto floorMeshVisual = std::make_shared<VisualModel>(floorMesh);
+		floorMeshVisual->setRenderMaterial(materialFloor);
 
 		auto floorMapP2V = std::make_shared<OneToOneMap>();
 		floorMapP2V->setMaster(floorMesh);
@@ -323,6 +326,7 @@ int main()
 		auto floor = std::make_shared<PbdObject>("Floor");
 		floor->setCollidingGeometry(floorMesh);
 		floor->setVisualGeometry(floorMesh);
+		floor->addVisualModel(floorMeshVisual);
 		floor->setPhysicsGeometry(floorMesh);
 		floor->setPhysicsToCollidingMap(floorMapP2C);
 		floor->setPhysicsToVisualMap(floorMapP2V);
@@ -343,16 +347,12 @@ int main()
 		scene->addSceneObject(floor);
 
 		auto colData = std::make_shared<CollisionData>();
-		auto CD = std::make_shared<MeshToMeshBruteForceCD>(floor->getCollidingGeometry(),
-			surfMesh,
-			colData);
+		auto CD = std::make_shared<MeshToMeshBruteForceCD>(surfMesh, floorMesh, colData);
 
 		auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::A,
-			CD->getCollisionData(),
-			floor,
-			deformableObj);
+			CD->getCollisionData(), deformableObj, floor, pbdSolver);
 
-		scene->getCollisionGraph()->addInteractionPair(floor, deformableObj, CD, CH, nullptr);
+		scene->getCollisionGraph()->addInteractionPair(deformableObj, floor, CD, CH, nullptr);
 	}
 
 	// Light