ENH: Adds functions to print geometry info

Adds a function to check if a geometry is a mesh.
Adds printing to geometry class
Stylistic changes in extract mesh class

Base/Geometry/Analytic/imstkCube.cpp

@@ -23,6 +23,14 @@
 
 namespace imstk {
 
+void
+Cube::print() const
+{
+    Geometry::print();
+
+    LOG(INFO) << "Width: " << m_width << "\n";
+}
+
 const double&
 Cube::getWidth() const
 {

Base/Geometry/Analytic/imstkCube.h

@@ -50,8 +50,12 @@ public:
     ///
     double getVolume() const;
 
-    // Accessors
+    ///
+    /// \brief Print the cube info
+    ///
+    void print() const;
 
+    // Accessors
     ///
     /// \brief Returns the width of the cube
     ///

Base/Geometry/Analytic/imstkPlane.cpp

@@ -22,6 +22,15 @@
 #include "imstkPlane.h"
 
 namespace imstk {
+
+void
+Plane::print() const
+{
+    Geometry::print();
+
+    LOG(INFO) << "Width: " << m_width << "\n";
+}
+
 Vec3d
 Plane::getNormal() const
 {

Base/Geometry/Analytic/imstkPlane.h

@@ -46,6 +46,11 @@ public:
 
     ~Plane() = default;
 
+    ///
+    /// \brief Print the plane info
+    ///
+    void print() const override;
+
     ///
     /// \brief Returns the normal of the plane
     ///

Base/Geometry/Analytic/imstkSphere.cpp

@@ -22,6 +22,15 @@
 #include "imstkSphere.h"
 
 namespace imstk {
+
+void
+Sphere::print() const
+{
+    Geometry::print();
+
+    LOG(INFO) << "Radius: " << m_radius << "\n";
+}
+
 const double&
 Sphere::getRadius() const
 {

Base/Geometry/Analytic/imstkSphere.h

@@ -45,6 +45,11 @@ public:
 
     ~Sphere() = default;
 
+    ///
+    /// \brief Print the sphere info
+    ///
+    void print() const override;
+
     ///
     /// \brief Returns the radius of the sphere
     ///

Base/Geometry/Map/imstkGeometryMap.cpp

@@ -22,6 +22,7 @@
 #include "imstkGeometryMap.h"
 
 namespace imstk {
+
 void
 GeometryMap::mute()
 {

Base/Geometry/Map/imstkIdentityMap.cpp

@@ -22,6 +22,7 @@
 #include "imstkIdentityMap.h"
 
 namespace imstk {
+
 void
 IdentityMap::apply()
 {

Base/Geometry/Map/imstkOneToOneMap.cpp

@@ -141,9 +141,7 @@ OneToOneMap::print() const
 void
 OneToOneMap::setMaster(std::shared_ptr<Geometry> master)
 {
-    if (master->getType() != GeometryType::HexahedralMesh &&
-        master->getType() != GeometryType::SurfaceMesh &&
-        master->getType() != GeometryType::TetrahedralMesh)
+    if (!master->isMesh())
     {
         LOG(WARNING) << "The geometry provided is not a mesh!\n";
         return;
@@ -154,9 +152,7 @@ OneToOneMap::setMaster(std::shared_ptr<Geometry> master)
 void
 OneToOneMap::setSlave(std::shared_ptr<Geometry> slave)
 {
-    if (slave->getType() != GeometryType::HexahedralMesh &&
-        slave->getType() != GeometryType::SurfaceMesh &&
-        slave->getType() != GeometryType::TetrahedralMesh)
+    if (!slave->isMesh())
     {
         LOG(WARNING) << "The geometry provided is not a mesh!\n";
         return;

Base/Geometry/Mesh/imstkHexahedralMesh.cpp

@@ -22,6 +22,30 @@
 #include "imstkHexahedralMesh.h"
 
 namespace imstk {
+
+void
+HexahedralMesh::print() const
+{
+    Geometry::print();
+
+    LOG(INFO) << "Number of vertices: " << this->getNumVertices() << "\n";
+    LOG(INFO) << "Number of Hexahedra: " << this->getNumHexahedra() << "\n";
+
+    LOG(INFO) << "Hexahedra:\n";
+    for (auto &hexVerts : this->getHexahedraVertices())
+    {
+        LOG(INFO) << "(" << hexVerts[0] << ", " << hexVerts[1] << "," << hexVerts[2] <<
+            hexVerts[3] << ", " << hexVerts[4] << "," << hexVerts[5] << ", " <<
+            hexVerts[6] << "," << hexVerts[7] << ")\n";
+    }
+
+    LOG(INFO) << "Vertex positions:\n";
+    for (auto &verts : this->getVerticesPositions())
+    {
+        LOG(INFO) << "(" << verts.x() << ", " << verts.y() << "," << verts.z() << ")\n";
+    }
+}
+
 void
 HexahedralMesh::setHexahedraVertices(const std::vector<HexaArray>& hexahedra)
 {

Base/Geometry/Mesh/imstkHexahedralMesh.h

@@ -45,6 +45,11 @@ public:
 
     // Accessors
 
+    ///
+    /// \brief Print the hexahedral mesh
+    ///
+    void print() const override;
+
     ///
     /// \brief Sets/Returns the hexahedral connectivity
     ///

Base/Geometry/Mesh/imstkSurfaceMesh.cpp

@@ -23,26 +23,31 @@
 
 namespace imstk {
 
-    void SurfaceMesh::initialize(const std::vector<Vec3d>& vertices,
-        const std::vector<TriangleArray>& triangles,
-        const std::vector<Vec2f>& texCoords,
-        const bool computDerivedData)
+void
+SurfaceMesh::initialize(const std::vector<Vec3d>& vertices,
+const std::vector<TriangleArray>& triangles,
+const std::vector<Vec2f>& texCoords,
+const bool computDerivedData)
+{
+    this->clear();
+    setInitialVerticesPositions(vertices);
+    setInitialVerticesPositions(vertices);
+    setTrianglesVertices(triangles);
+
+    if (texCoords.size() > 0)
     {
-        this->clear();
-        setInitialVerticesPositions(vertices);
-        setInitialVerticesPositions(vertices);
-        setTrianglesVertices(triangles);
         setTextureCoordinates(texCoords);
+    }
 
-        if (computDerivedData)
-        {
-            computeVerticesNormals();
-            computeTrianglesNormals();
-            computeVerticesTangents();
-        }
+    if (computDerivedData)
+    {
+        computeVerticesNormals();
+        computeTrianglesNormals();
+        computeVerticesTangents();
     }
+}
 
-    void
+void
 SurfaceMesh::computeVerticesNeighborTriangles()
 {
     m_verticesNeighborTriangles.resize(m_verticesPositions.size());
@@ -304,19 +309,21 @@ SurfaceMesh::clear()
 void
 SurfaceMesh::print() const
 {
+    Geometry::print();
+
     LOG(INFO) << "Number of vertices: " << this->getNumVertices() << "\n";
     LOG(INFO) << "Number of triangles: " << this->getNumTriangles() << "\n";
 
     LOG(INFO) << "Triangles:\n";
     for (auto &triVerts : this->getTrianglesVertices())
     {
-        LOG(INFO) << "(" << triVerts[0] << ", " << triVerts[1] << "," << triVerts[2] << ")\n";
+        LOG(INFO) << "(" << triVerts[0] << ", " << triVerts[1] << ", " << triVerts[2] << ")\n";
     }
 
     LOG(INFO) << "Vertex positions:\n";
-    for (auto &verts : this->getInitialVerticesPositions())
+    for (auto &verts : this->getVerticesPositions())
     {
-        LOG(INFO) << "(" << verts.x() << ", " << verts.y() << "," << verts.z() << ")\n";
+        LOG(INFO) << "(" << verts.x() << ", " << verts.y() << ", " << verts.z() << ")\n";
     }
 }
 

Base/Geometry/Mesh/imstkSurfaceMesh.h

@@ -90,9 +90,9 @@ public:
     void clear();
 
     ///
-    /// \brief Print the mesh
+    /// \brief Print the surface mesh
     ///
-    void print() const;
+    void print() const override;
 
     // Accessors
 

Base/Geometry/Mesh/imstkTetrahedralMesh.cpp

@@ -135,15 +135,12 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh)
         LOG(WARNING) << "Cannot extract SurfaceMesh: The surface mesh provided is not instantiated!";
         return false;
     }
+    using triArray = SurfaceMesh::TriangleArray;
 
-    std::vector<SurfaceMesh::TriangleArray> facePattern;
-    facePattern.push_back({ { 0, 1, 2 } });
-    facePattern.push_back({ { 0, 1, 3 } });
-    facePattern.push_back({ { 0, 2, 3 } });
-    facePattern.push_back({ { 1, 2, 3 } });
+    const std::vector<triArray> facePattern = { triArray{ { 0, 1, 2 } }, triArray{ { 0, 1, 3 } }, triArray{ { 0, 2, 3 } }, triArray{ { 1, 2, 3 } } };
 
     // Find number of common vertices
-    auto getNumCommonVerts = [facePattern](const TetraArray& array1, const TetraArray& array2, SurfaceMesh::TriangleArray& commonFace) -> int
+    auto getNumCommonVerts = [facePattern](const TetraArray& array1, const TetraArray& array2, triArray& commonFace) -> int
     {
         int numCommonVerts = 0;
         std::array<bool, 4> tmpFace = {{0,0,0,0}};
@@ -163,7 +160,7 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh)
                 {
                     for (size_t j = 0; j < 3; ++j)
                     {
-                        commonFace[j] = array1[facePattern[3-i][j]];// this is specific to the above pattern
+                        commonFace[j] = array1[facePattern[3-i][j]];
                     }
                 }
             }
@@ -171,8 +168,8 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh)
         return numCommonVerts;
     };
 
-    // Find the common face irrespecive of the order
-    auto findCommonFace = [facePattern](const TetraArray& tetVertArray, const SurfaceMesh::TriangleArray& triVertArray) -> int
+    // Find the common face irrespective of the order
+    auto findCommonFace = [facePattern](const TetraArray& tetVertArray, const triArray& triVertArray) -> int
     {
         for (size_t i = 0; i < 4; ++i)
         {
@@ -188,19 +185,18 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh)
             }
         }
         LOG(WARNING) << "There is no common face!";
-        return -1;// something wrong if you are here
+        return -1;// something wrong if you reach this point
     };
 
     // Find and store the tetrahedral faces that are unique
-    std::vector<SurfaceMesh::TriangleArray> surfaceTri;
+    auto vertArray = this->getTetrahedraVertices();
+    std::vector<triArray> surfaceTri;
     std::vector<int> surfaceTriTet;
     std::vector<int> tetRemainingVert;
-    auto vertArray = this->getTetrahedraVertices();
-    SurfaceMesh::TriangleArray possibleFaces[4];
-    SurfaceMesh::TriangleArray commonFace;
+    triArray possibleFaces[4];
+    triArray commonFace;
     bool foundFaces[4];
 
-    std::cout << this->getNumTetrahedra() << std::endl;
     for (size_t tetId = 0; tetId < this->getNumTetrahedra(); ++tetId)
     {
         auto tetVertArray = vertArray.at(tetId);
@@ -236,7 +232,7 @@ TetrahedralMesh::extractSurfaceMesh(std::shared_ptr<SurfaceMesh> surfaceMesh)
         {
             for (size_t faceId = 0; faceId < 4; ++faceId)
             {
-                possibleFaces[faceId] = SurfaceMesh::TriangleArray{ {
+                possibleFaces[faceId] = triArray{ {
                         tetVertArray[facePattern[faceId].at(0)],
                         tetVertArray[facePattern[faceId].at(1)],
                         tetVertArray[facePattern[faceId].at(2)] } };
@@ -316,4 +312,25 @@ TetrahedralMesh::clear()
     m_tetrahedraVertices.clear();
     Mesh::clear();
 }
+
+void
+TetrahedralMesh::print() const
+{
+    Geometry::print();
+
+    LOG(INFO) << "Number of vertices: " << this->getNumVertices() << "\n";
+    LOG(INFO) << "Number of tetrahedra: " << this->getNumTetrahedra() << "\n";
+
+    LOG(INFO) << "Tetrahedra:\n";
+    for (auto &tetVerts : this->getTetrahedraVertices())
+    {
+        LOG(INFO) << "(" << tetVerts[0] << ", " << tetVerts[1] << ", " << tetVerts[2] << ", " << tetVerts[3] << ")\n";
+    }
+
+    LOG(INFO) << "Vertex positions:\n";
+    for (auto &verts : this->getVerticesPositions())
+    {
+        LOG(INFO) << "(" << verts.x() << ", " << verts.y() << ", " << verts.z() << ")\n";
+    }
+}
 }

Base/Geometry/Mesh/imstkTetrahedralMesh.h

@@ -95,6 +95,11 @@ public:
     /// \brief Clear all the mesh data
     ///
     void clear();
+
+    ///
+    /// \brief Print the tetrahedral mesh
+    ///
+    void print() const override;
 protected:
 
     std::vector<TetraArray> m_tetrahedraVertices; ///< vertices of the tetrahedra

Base/Geometry/imstkGeometry.cpp

@@ -68,6 +68,22 @@ Geometry::transform(const RigidTransform3d& transform)
     this->translate(transform.translation());
 }
 
+bool
+Geometry::isMesh() const
+{
+    return (this->m_type == GeometryType::HexahedralMesh ||
+            this->m_type == GeometryType::SurfaceMesh ||
+            this->m_type == GeometryType::TetrahedralMesh) ? true : false;
+}
+
+void
+Geometry::print() const
+{
+    LOG(INFO) << this->getTypeName();
+    LOG(INFO) << "Position: " << "(" << this->m_position.x() << ", " << this->m_position.y() << ", " << this->m_position.z() << ")\n";
+    LOG(INFO) << "Scaling: " << m_scaling << "\n";
+}
+
 const Vec3d&
 Geometry::getPosition() const
 {
@@ -129,4 +145,27 @@ Geometry::getType() const
 {
     return m_type;
 }
+
+const std::string
+Geometry::getTypeName() const
+{
+    switch (m_type)
+    {
+    case GeometryType::Cube:
+        return "Cube";
+    case GeometryType::Plane:
+        return "Plane";
+    case GeometryType::Sphere:
+        return "Sphere";
+    case GeometryType::SurfaceMesh:
+        return "Surface trianglar mesh";
+    case GeometryType::TetrahedralMesh:
+        return "Tetrahedral mesh";
+    case GeometryType::HexahedralMesh:
+        return "Hexahedral Mesh";
+    default:
+        return "Mesh type not determined!";
+    }
+}
+
 }

Base/Geometry/imstkGeometry.h

@@ -73,6 +73,21 @@ public:
     ///
     void        transform(const RigidTransform3d& transform);
 
+    ///
+    /// \brief Returns the volume of the geometry (if valid)
+    ///
+    virtual double getVolume() const = 0;
+
+    ///
+    /// \brief Returns true if the geometry is a mesh, else returns false
+    ///
+    bool isMesh() const;
+
+    ///
+    /// \brief Print
+    ///
+    virtual void print() const;
+
     // Accessors
 
     ///
@@ -104,10 +119,9 @@ public:
     const GeometryType& getType() const;
 
     ///
-    /// \brief Returns the volume of the geometry (if valid)
+    /// \brief Returns the string representing the type name of the geometry
     ///
-    virtual double getVolume() const = 0;
-
+    const std::string getTypeName() const;
 protected:
 
     Geometry(GeometryType type,

Examples/Sandbox/main.cpp

@@ -46,8 +46,8 @@ int main()
     //testScenesManagement();
     //testIsometricMap();
     //testTetraTriangleMap();
-    testExtractSurfaceMesh();
-    //testOneToOneNodalMap();
+    //testExtractSurfaceMesh();
+    testOneToOneNodalMap();
 
     return 0;
 }
@@ -356,6 +356,8 @@ void testOneToOneNodalMap()
     tetMesh->setInitialVerticesPositions(vertList);
     tetMesh->setVerticesPositions(vertList);
 
+    tetMesh->print();
+
     // b. Construct a surface mesh
     auto triMesh = std::make_shared<imstk::SurfaceMesh>();
 
@@ -379,6 +381,8 @@ void testOneToOneNodalMap()
     triConnectivity.push_back({ { 2, 3, 4 } });
     triMesh->setTrianglesVertices(triConnectivity);
 
+    triMesh->print();
+
     // c. Construct the one to one nodal map based on the above meshes
     auto oneToOneNodalMap = std::make_shared<imstk::OneToOneMap>();
     oneToOneNodalMap->setMaster(tetMesh);