BUG: Clear rebase errors

Examples/NoRendering/noRenderingExample.cpp

@@ -38,7 +38,7 @@ using namespace imstk;
 ///
 int main()
 {
-    auto sdk = std::make_shared<SimulationManager>(false);
+    auto sdk = std::make_shared<SimulationManager>(SimulationManager::Mode::runInBackground);
     auto scene = sdk->createNewScene("NoRendering");
 
     // Create surface mesh

Examples/PBDCloth/pbdClothExample.cpp

@@ -26,15 +26,13 @@
 
 using namespace imstk;
 
-const bool runSimWithoutRendering = false;
-
 ///
 /// \brief This example demonstrates the cloth simulation
 /// using Position based dynamics
 ///
 int main()
 {
-    auto sdk = std::make_shared<SimulationManager>(runSimWithoutRendering);
+    auto sdk = std::make_shared<SimulationManager>();
     auto scene = sdk->createNewScene("PBDCloth");
 
     // Create surface mesh

Examples/PBDFluids/PBDFluidsExample.cpp

@@ -36,7 +36,7 @@ using namespace imstk;
 ///
 int main()
 {
-    auto sdk = std::make_shared<SimulationManager>(0);
+    auto sdk = std::make_shared<SimulationManager>();
     auto scene = sdk->createNewScene("PBDFluid");
 
     scene->getCamera()->setPosition(0, 10.0, 15.0);

Examples/SPHFluid/SPHFluidExample.hpp

@@ -39,7 +39,7 @@ std::vector<std::shared_ptr<CollidingObject>> generateSolids(const std::shared_p
 int main(int argc, char* argv[])
 {
     // SimulationManager must be created first
-    auto sdk = std::make_shared<SimulationManager>(0);
+    auto sdk = std::make_shared<SimulationManager>();
 
     int threads = -1;
     double particleRadius = 0.1;

Source/Scene/imstkScene.cpp

@@ -25,7 +25,6 @@
 #include "imstkDebugGeometry.h"
 #include "imstkPbdObject.h"
 #include "imstkDeformableObject.h"
-#include "imstkVirtualCouplingPBDObject.h"
 #include "imstkTimer.h"
 #include "imstkPbdSolver.h"
 
@@ -67,15 +66,6 @@ Scene::launchModules()
     {
         m_threadMap[camController->getName()] = std::thread([camController] { camController->start(); });
     }
-
-    // Init virtual coupling objects offsets
-    for (auto obj : this->getSceneObjects())
-    {
-        if (auto virtualCouplingPBD = std::dynamic_pointer_cast<VirtualCouplingPBDObject>(obj))
-        {
-            virtualCouplingPBD->initOffsets();
-        }
-    }
 }
 
 bool
@@ -325,12 +315,6 @@ Scene::advance()
         {
             collidingObj->resetForce();
         }
-        // todo: refactor pbd
-        // description: so that the transform obtained from device can be applied
-        if (auto virtualCouplingPBD = std::dynamic_pointer_cast<VirtualCouplingPBDObject>(obj))
-        {
-            virtualCouplingPBD->resetCollidingGeometry();
-        }
     }
 
     // Update objects controlled by the device controllers
@@ -343,56 +327,30 @@ Scene::advance()
     for (auto intPair : this->getCollisionGraph()->getInteractionPairList())
     {
         intPair->computeCollisionData();
-        intPair->computeContactForces();
     }
 
-    // Apply forces on device
-    for (auto controller : this->getSceneObjectControllers())
+    // Process collision data per interaction pair
+    for (auto intPair : this->getCollisionGraph()->getInteractionPairList())
     {
-        controller->applyForces();
+        intPair->processCollisionData();
     }
 
-    // Update the solvers
+    // Run the solvers
     for (auto solvers : this->getSolvers())
     {
         solvers->solve();
-
-        auto xx = std::dynamic_pointer_cast<PbdSolver>(solvers);
-    }
-
-    // Apply the geometry and apply maps to all the objects
-    for (auto obj : this->getSceneObjects())
-    {
-        obj->updateGeometries();
-    }
-
-    // Do collision detection and response for pbd objects
-    for (auto intPair : this->getCollisionGraph()->getPbdPairList())
-    {
-        intPair->resetConstraints();
-        if (intPair->doBroadPhaseCollision())
-        {
-            intPair->doNarrowPhaseCollision();
-        }
-        intPair->resolveCollision();
     }
 
-    // Update velocity of PBD objects
-    for (auto obj : this->getSceneObjects())
+    // Apply updated forces on device
+    for (auto controller : this->getSceneObjectControllers())
     {
-        if (auto pbdObj = std::dynamic_pointer_cast<PbdObject>(obj))
-        {
-            pbdObj->updateVelocity();
-        }
+        controller->applyForces();
     }
 
-    // Set the trackers of virtual coupling PBD objects to out-of-date
+    // Apply the geometry and apply maps to all the objects
     for (auto obj : this->getSceneObjects())
     {
-        if (auto virtualCouplingPBD = std::dynamic_pointer_cast<VirtualCouplingPBDObject>(obj))
-        {
-            virtualCouplingPBD->setTrackerToOutOfDate();
-        }
+        obj->updateGeometries();
     }
 
     // Set the trackers of the scene object controllers to out-of-date
@@ -428,6 +386,6 @@ Scene::advance()
         }
     }
 
-    this->setFPS((size_t)(1. / wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds)));
+    this->setFPS(1. / wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds));
 }
 } // imstk
\ No newline at end of file

Source/SimulationManager/imstkSimulationManager.cpp

@@ -55,12 +55,6 @@ SimulationManager::SimulationManager(const SimulationManager::Mode mode, const b
     }
 }
 
-const SimulationStatus&
-SimulationManager::getStatus() const
-{
-    return m_status;
-}
-
 void
 SimulationManager::setThreadPoolSize(const int nThreads)
 {

Source/SimulationManager/imstkSimulationManager.h

@@ -43,7 +43,6 @@ namespace imstk
 {
 using SimulationStatus = ModuleStatus;
 
-
 ///
 /// \class SimulationManager
 ///