ENH: Adds tet-tri map

Adds tet-tri map and all the support functionality that it needs

Base/Geometry/imstkGeometryMap.cpp

@@ -47,6 +47,25 @@ GeometryMap::setMaster(std::shared_ptr<Geometry> master)
     m_master = master;
 }
 
+const std::string& GeometryMap::getTypeName() const
+{
+    switch (getType())
+    {
+        case GeometryMapType::Isometric:
+            return "Isometric map";
+        case GeometryMapType::Identity:
+            return "Identity map";
+        case GeometryMapType::TetraTriangle:
+            return "Tetra-Triangle map";
+        case GeometryMapType::HexaTriangle:
+            return "Hexa-Triangle map";
+        case GeometryMapType::TetraTetra:
+            return "Tetra-Tetra map";
+        default:
+            return "Map type not determined!";
+    }
+}
+
 std::shared_ptr<Geometry>
 GeometryMap::getMaster() const
 {

Base/Geometry/imstkGeometryMap.h

@@ -23,6 +23,7 @@
 #define imstkGeometryMap_h
 
 #include <memory>
+#include <iostream>
 
 #include "imstkGeometry.h"
 #include "g3log/g3log.hpp"
@@ -68,6 +69,7 @@ public:
     const GeometryMapType& getType() const;
 
     virtual void setMaster(std::shared_ptr<Geometry> master);
+    const std::string& getTypeName() const;
     virtual std::shared_ptr<Geometry> getMaster() const;
 
     virtual void setSlave(std::shared_ptr<Geometry> slave);
@@ -78,6 +80,11 @@ public:
     ///
     bool isActive() const;
 
+    ///
+    /// \brief Print the map
+    ///
+    virtual void printMap() const = 0;
+
 protected:
 
     GeometryMap(GeometryMapType type) : m_isActive(true) {}

Base/Geometry/imstkIdentityMap.cpp

@@ -29,6 +29,11 @@ IdentityMap::getTransform() const
     return imstk::RigidTransform3d::Identity();
 }
 
+void IdentityMap::printMap() const
+{
+    std::cout << this->getTypeName() << std::endl;
+}
+
 void
 IdentityMap::applyMap()
 {

Base/Geometry/imstkIdentityMap.h

@@ -38,6 +38,8 @@ public:
 
     void computeMap(){};
 
+    void printMap() const;
+
     // Accessors
 
     void setTransform(const RigidTransform3d& affineTransform);

Base/Geometry/imstkIsometricMap.cpp

@@ -34,6 +34,11 @@ IsometricMap::getTransform() const
     return m_rigidTransform;
 }
 
+void IsometricMap::printMap() const
+{
+    std::cout << this->getTypeName() << std::endl;
+}
+
 void
 IsometricMap::applyMap()
 {

Base/Geometry/imstkIsometricMap.h

@@ -42,6 +42,8 @@ public:
     void setTransform(const RigidTransform3d& affineTransform);
     const RigidTransform3d& getTransform() const;
 
+    void printMap() const;
+
 protected:
     RigidTransform3d m_rigidTransform;
 };

Base/Geometry/imstkTetraTriangleMap.cpp

@@ -37,7 +37,6 @@ TetraTriangleMap::computeMap()
     auto tetMesh = std::dynamic_pointer_cast<imstk::TetrahedralMesh> (m_master);
     auto triMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh> (m_slave);
 
-    weightsArray weights;
     int numSurfaceVertices = triMesh->getNumVertices();
     int numTetrahedra = tetMesh->getNumTetrahedra();
 
@@ -56,6 +55,7 @@ TetraTriangleMap::computeMap()
         }
 
         // compute the weights
+        weightsArray weights = { 0.0, 0.0, 0.0, 0.0 };
         tetMesh->computeBarycentricWeights(closestEle, surfVertPos, weights);
 
         m_enclosingTetra.push_back(closestEle);// store nearest tetrahedra
@@ -111,7 +111,7 @@ TetraTriangleMap::findEclosingTetrahedra(const std::shared_ptr<imstk::Tetrahedra
 
     // Check which probable tetrahedra the point belongs to
     int elclosingTetra = -1;
-    weightsArray weights;
+    weightsArray weights = {0.0, 0.0, 0.0, 0.0};
     for (auto it = probables.begin(); it != probables.end(); ++it)
     {
         tetraMesh->computeBarycentricWeights(*it, p, weights);
@@ -152,6 +152,21 @@ TetraTriangleMap::setSlave(std::shared_ptr<Geometry> slave)
 
 }
 
+void TetraTriangleMap::printMap() const
+{
+    std::cout << this->getTypeName() << std::endl;
+
+    std::cout << "Vertex (<vertNum>): Tetrahedra: <TetNum> - Weights: (w1, w2, w3, w4)\n\n";
+
+    for (size_t i = 0; i < this->m_enclosingTetra.size(); i++)
+    {
+        std::cout << "\tVertex (" << i << "):" << "\tTetrahedra: " << m_enclosingTetra[i];
+        std::cout << " - Weights: "
+            << "(" << m_weights.at(i)[0] << ", " << m_weights.at(i)[1] <<
+            ", " << m_weights.at(i)[2] << ", " << m_weights.at(i)[3] << ")\n";
+    }
+}
+
 void
 TetraTriangleMap::applyMap()
 {

Base/Geometry/imstkTetraTriangleMap.h

@@ -80,6 +80,11 @@ public:
     ///
     void setSlave(std::shared_ptr<Geometry> slave) override;
 
+    ///
+    /// \brief Print the map
+    ///
+    void printMap() const;
+
 protected:
     std::vector<weightsArray> m_weights; ///> weights
     std::vector<int> m_enclosingTetra; ///> Enclosing tetrahedra to interpolate the weights upon

Base/Geometry/imstkTetrahedralMesh.cpp

@@ -40,7 +40,7 @@ TetrahedralMesh::setTetrahedronVertices(const std::vector<TetraArray>& tetrahedr
 }
 
 void
-TetrahedralMesh::computeBarycentricWeights(const int closestEle, const imstk::Vec3d& p, std::array<double, 4> weights) const
+TetrahedralMesh::computeBarycentricWeights(const int closestEle, const imstk::Vec3d& p, std::array<double, 4>& weights) const
 {
     TetraArray vertIndices = getTetrahedronVertices(closestEle);
     imstk::Vec3d v[4];

Base/Geometry/imstkTetrahedralMesh.h

@@ -49,7 +49,7 @@ public:
     ///
     /// \brief compute the barycentric weights of a given point in 3D space for a given the tetrahedra
     ///
-    void computeBarycentricWeights(const int closestEle, const imstk::Vec3d& p, std::array<double, 4> weights) const;
+    void computeBarycentricWeights(const int closestEle, const imstk::Vec3d& p, std::array<double, 4>& weights) const;
 
     ///
     /// \brief get the indices vertices of a given tetrahedra in an array

Examples/Sandbox/main.cpp

@@ -12,6 +12,13 @@
 #include "imstkCube.h"
 #include "imstkLight.h"
 #include "imstkCamera.h"
+
+// Geometry
+#include "imstkTetrahedralMesh.h"
+#include "imstkSurfaceMesh.h"
+
+// Map
+#include "imstkTetraTriangleMap.h"
 #include "imstkIsometricMap.h"
 
 #include "g3log/g3log.hpp"
@@ -20,6 +27,7 @@ void testViewer();
 void testAnalyticalGeometry();
 void testScenesManagement();
 void testGeometryMaps();
+void testTetraTriangleMap();
 
 int main()
 {
@@ -27,10 +35,11 @@ int main()
               << "Starting Sandbox\n"
               << "****************\n";
 
-    testViewer();
+    //testViewer();
     //testAnalyticalGeometry();
     //testScenesManagement();
     //testIsometricMaps();
+    testTetraTriangleMap();
 
     return 0;
 }
@@ -178,14 +187,6 @@ void testScenesManagement()
     while (sdk->getStatus() != imstk::SimulationStatus::INACTIVE) {}
 }
 
-void testTetraTriangleMap()
-{
-    // SDK and Scene
-    auto sdk = std::make_shared<imstk::SimulationManager>();
-    auto geometryMapTest = sdk->createNewScene("geometryMapTest");
-    geometryMapTest->setLoopDelay(1000);
-}
-
 void testIsometricMaps()
 {
     // SDK and Scene
@@ -213,6 +214,7 @@ void testIsometricMaps()
     auto transform = imstk::RigidTransform3d::Identity();
     transform.translate(imstk::Vec3d(0.0, 1.0, 0.0));
     transform.rotate(Eigen::AngleAxisd(imstk::PI_4, imstk::Vec3d(0, 1.0, 0)));
+
     auto rigidMap = std::make_shared<imstk::IsometricMap>();
     rigidMap->setMaster(sphereObj->getVisualGeometry());
     rigidMap->setSlave(cubeObj->getVisualGeometry());
@@ -232,3 +234,40 @@ void testIsometricMaps()
     sdk->setCurrentScene("geometryMapTest");
     sdk->startSimulation(imstk::Renderer::Mode::DEBUG);
 }
+
+void testTetraTriangleMap()
+{
+    // Tetrahedral mesh
+    auto tetMesh = std::make_shared<imstk::TetrahedralMesh>();
+    std::vector<imstk::Vec3d> vertList;
+    vertList.push_back(imstk::Vec3d(0, 0, 0));
+    vertList.push_back(imstk::Vec3d(1.0, 0, 0));
+    vertList.push_back(imstk::Vec3d(0, 1.0, 0));
+    vertList.push_back(imstk::Vec3d(0, 0, 1.0));
+    tetMesh->setInitialVertexPositions(vertList);
+    tetMesh->setVertexPositions(vertList);
+
+    std::vector<std::array<size_t, 4>> tetConnectivity;
+    std::array<size_t, 4 > tet1 = { 0, 1, 2, 3 };
+    tetConnectivity.push_back(tet1);
+    tetMesh->setTetrahedronVertices(tetConnectivity);
+
+    // Triangular mesh
+    auto triMesh = std::make_shared<imstk::SurfaceMesh>();
+    std::vector<imstk::Vec3d> SurfVertList;
+    SurfVertList.push_back(imstk::Vec3d(0, 0, 1));// coincides with one vertex
+    SurfVertList.push_back(imstk::Vec3d(0.25, 0.25, 0.25));// centroid
+    SurfVertList.push_back(imstk::Vec3d(1.05, 0, 0));
+    triMesh->setInitialVertexPositions(SurfVertList);
+    triMesh->setVertexPositions(SurfVertList);
+
+    // Construct a map
+    auto tetTriMap = std::make_shared<imstk::TetraTriangleMap>();
+    tetTriMap->setMaster(tetMesh);
+    tetTriMap->setSlave(triMesh);
+    tetTriMap->computeMap();
+
+    tetTriMap->printMap();
+
+    getchar();
+}
\ No newline at end of file