Commit acf2eecc authored by Sreekanth Arikatla's avatar Sreekanth Arikatla
Browse files

ENH: Adds collision detection of mesh nodal picking

Adds a sphere to mesh collision detection.
The radius of the sphere is small to use for picking.
parent 8263ac44
......@@ -130,6 +130,14 @@ struct PointTetrahedronCollisionData
WeightsArray BarycentricCoordinates;
};
struct PickingCollisionData
{
// map of node and point position
Vec3d ptPos;
size_t nodeId;
bool touchStatus;
};
///
/// \struct CollisionData
///
......@@ -147,6 +155,7 @@ public:
EEColData.clear();
MAColData.clear();
PTColData.clear();
NodePickData.clear();
}
std::vector<PositionDirectionCollisionData> PDColData; ///< Position Direction collision data
......@@ -155,6 +164,7 @@ public:
std::vector<EdgeEdgeCollisionData> EEColData; ///< Edge Edge collision data
std::vector<MeshToAnalyticalCollisionData> MAColData; ///< Mesh to analytical collision data
std::vector<PointTetrahedronCollisionData> PTColData; ///< Point Tetrahedron collision data
std::vector<PickingCollisionData> NodePickData; ///< List of points that are picked
};
}
......
......@@ -27,6 +27,7 @@
#include "imstkMeshToSphereCD.h"
#include "imstkMeshToPlaneCD.h"
#include "imstkMeshToMeshCD.h"
#include "imstkMeshToSpherePickingCD.h"
#include "imstkCollidingObject.h"
#include "imstkPlane.h"
......@@ -136,6 +137,21 @@ CollisionDetection::make_collision_detection(const Type& type,
return std::make_shared<MeshToMeshCD>(meshA, meshB, colData);
}
break;
case Type::MeshToSpherePicking:
{
auto mesh = std::dynamic_pointer_cast<Mesh>(objA->getCollidingGeometry());
auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
// Geometries check
if (mesh == nullptr || sphere == nullptr)
{
LOG(WARNING) << "CollisionDetection::make_collision_detection error: "
<< "invalid object geometries for SphereToSphere collision detection.";
return nullptr;
}
return std::make_shared<MeshToSpherePickingCD>(mesh, sphere, colData);
}
break;
default:
{
LOG(WARNING) << "CollisionDetection::make_collision_detection error: type not implemented.";
......
......@@ -50,7 +50,8 @@ public:
MeshToSphere,
MeshToPlane,
MeshToMesh,
MeshToCapsule
MeshToCapsule,
MeshToSpherePicking
};
///
......
/*=========================================================================
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 "imstkMeshToSpherePickingCD.h"
#include "imstkCollisionData.h"
#include "imstkMesh.h"
#include "imstkSphere.h"
namespace imstk
{
void
MeshToSpherePickingCD::computeCollisionData()
{
// Clear collisionData
m_colData.clearAll();
if (!m_deviceTracker || !m_deviceTracker->getDeviceClient()->getButton(m_buttonId))
{
return;
}
// Get sphere properties
auto spherePos = m_sphere->getPosition();
auto radius = m_sphere->getRadius()*m_sphere->getScaling();
size_t nodeId = 0;
for (const auto& p : m_mesh->getVertexPositions())
{
auto dist = (spherePos - p).norm();
if (dist <= radius)
{
m_colData.NodePickData.push_back({ spherePos - p, nodeId, 0 });
}
nodeId++;
}
}
}
\ No newline at end of file
/*=========================================================================
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.
=========================================================================*/
#ifndef imstkMeshToSpherePickingCD_h
#define imstkMeshToSpherePickingCD_h
#include <memory>
#include "imstkCollisionDetection.h"
#include "imstkDeviceTracker.h"`
namespace imstk
{
class Mesh;
class Sphere;
class CollisionData;
///
/// \class MeshToSpherePickingCD
///
/// \brief Mesh to sphere collision detection while picking
///
class MeshToSpherePickingCD : public CollisionDetection
{
public:
///
/// \brief Constructor
///
MeshToSpherePickingCD(std::shared_ptr<Mesh> mesh,
std::shared_ptr<Sphere> sphere,
CollisionData& colData) :
CollisionDetection(CollisionDetection::Type::MeshToSphere,
colData),
m_mesh(mesh),
m_sphere(sphere){}
///
/// \brief Destructor
///
~MeshToSpherePickingCD() = default;
///
/// \brief Detect collision and compute collision data
///
void computeCollisionData() override;
///
/// \brief Set device tracker and the id of the button
///
void setDeviceTrackerAndButton(const std::shared_ptr<imstk::DeviceTracker> devTracker,
const unsigned int buttonId = 0){ m_deviceTracker = devTracker; }
private:
std::shared_ptr<Mesh> m_mesh; ///> Mesh
std::shared_ptr<Sphere> m_sphere; ///> Sphere
std::shared_ptr<imstk::DeviceTracker> m_deviceTracker; ///> Device tracker to get the button status
unsigned int m_buttonId = 0; ///> button id
};
}
#endif // ifndef imstkMeshToSphereCD_h
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