REFAC: Move the scene simulation logic to scene class

a. Move the scene simulation logic to scene class.
b. Simulation manager calles scene::advance() in the run module
c. Add launchModules() to scene meant to launch scene-specific modules in a separate thread

Source/Scene/imstkScene.cpp

@@ -23,11 +23,26 @@
 #include "imstkCameraController.h"
 #include "imstkSceneObjectControllerBase.h"
 #include "imstkDebugGeometry.h"
+#include "imstkPbdObject.h"
+#include "imstkDeformableObject.h"
+#include "imstkVirtualCouplingPBDObject.h"
+#include "imstkTimer.h"
+#include "imstkPbdSolver.h"
 
 #include <g3log/g3log.hpp>
 
 namespace imstk
 {
+Scene::~Scene()
+{
+    // End Camera Controller
+    if (auto camController = this->getCamera()->getController())
+    {
+        camController->end();
+        m_threadMap.at(camController->getName()).join();
+    }
+}
+
 bool
 Scene::initialize()
 {
@@ -44,6 +59,25 @@ Scene::initialize()
     return true;
 }
 
+void
+Scene::launchModules()
+{
+    // Start Camera Controller (asynchronous)
+    if (auto camController = this->getCamera()->getController())
+    {
+        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
 Scene::isObjectRegistered(const std::string& sceneObjectName) const
 {
@@ -273,4 +307,127 @@ Scene::reset()
         }
     }
 }
+
+void
+Scene::advance()
+{
+    StopWatch wwt;
+    wwt.start();
+
+    // Reset Contact forces to 0
+    for (auto obj : this->getSceneObjects())
+    {
+        if (auto defObj = std::dynamic_pointer_cast<DeformableObject>(obj))
+        {
+            defObj->getContactForce().setConstant(0.0);
+        }
+        else if (auto collidingObj = std::dynamic_pointer_cast<CollidingObject>(obj))
+        {
+            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
+    for (auto controller : this->getSceneObjectControllers())
+    {
+        controller->updateControlledObjects();
+    }
+
+    // Compute collision data per interaction pair
+    for (auto intPair : this->getCollisionGraph()->getInteractionPairList())
+    {
+        intPair->computeCollisionData();
+        intPair->computeContactForces();
+    }
+
+    // Apply forces on device
+    for (auto controller : this->getSceneObjectControllers())
+    {
+        controller->applyForces();
+    }
+
+    // Update 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())
+    {
+        if (auto pbdObj = std::dynamic_pointer_cast<PbdObject>(obj))
+        {
+            pbdObj->updateVelocity();
+        }
+    }
+
+    // Set the trackers of virtual coupling PBD objects to out-of-date
+    for (auto obj : this->getSceneObjects())
+    {
+        if (auto virtualCouplingPBD = std::dynamic_pointer_cast<VirtualCouplingPBDObject>(obj))
+        {
+            virtualCouplingPBD->setTrackerToOutOfDate();
+        }
+    }
+
+    // Set the trackers of the scene object controllers to out-of-date
+    for (auto controller : this->getSceneObjectControllers())
+    {
+        controller->setTrackerToOutOfDate();
+    }
+
+    auto timeElapsed = wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds);
+
+    // Update time step size of the dynamic objects
+    for (auto obj : this->getSceneObjects())
+    {
+        if (obj->getType() == SceneObject::Type::Pbd)
+        {
+            if (auto dynaObj = std::dynamic_pointer_cast<PbdObject>(obj))
+            {
+                if (dynaObj->getDynamicalModel()->getTimeStepSizeType() == TimeSteppingType::realTime)
+                {
+                    dynaObj->getDynamicalModel()->setTimeStep(timeElapsed);
+                }
+            }
+        }
+        else if (obj->getType() == SceneObject::Type::FEMDeformable)
+        {
+            if (auto dynaObj = std::dynamic_pointer_cast<DeformableObject>(obj))
+            {
+                if (dynaObj->getDynamicalModel()->getTimeStepSizeType() == TimeSteppingType::realTime)
+                {
+                    dynaObj->getDynamicalModel()->setTimeStep(timeElapsed);
+                }
+            }
+        }
+    }
+
+    this->setFPS((size_t)(1. / wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds)));
+}
 } // imstk
\ No newline at end of file

Source/Scene/imstkScene.h

@@ -58,13 +58,28 @@ public:
     ///
     /// \brief Destructor
     ///
-    ~Scene() = default;
+    ~Scene();
 
     ///
     /// \brief Initialize the scene
     ///
     bool initialize();
 
+    ///
+    /// \brief Launch camera controller and other scene specific modules that need to run independently
+    ///
+    void launchModules();
+
+    ///
+    /// \brief Reset the scene
+    ///
+    void reset();
+
+    ///
+    /// \brief Advance the scene from current to next frame
+    ///
+    void advance();
+
     ///
     /// \brief Returns true if the object with a given name is registered, else false
     ///
@@ -161,11 +176,6 @@ public:
     ///
     bool isInitialized() const { return m_isInitialized; }
 
-    ///
-    /// \brief Reset the scene
-    ///
-    void reset();
-
     ///
     /// \brief Set/Get the FPS
     ///
@@ -183,6 +193,7 @@ protected:
     std::shared_ptr<CollisionGraph> m_collisionGraph = std::make_shared<CollisionGraph>();
     std::vector<std::shared_ptr<SolverBase>> m_solvers;     ///> List of non-linear solvers
     std::vector<std::shared_ptr<SceneObjectControllerBase>> m_objectControllers; ///> List of controllers
+    std::unordered_map<std::string, std::thread> m_threadMap;   ///>
 
     double m_fps = 0.0;
 

Source/SimulationManager/imstkSceneManager.cpp

@@ -34,111 +34,10 @@
 
 namespace imstk
 {
-std::shared_ptr<Scene>
-SceneManager::getScene()
-{
-    return m_scene;
-}
-
 void
 SceneManager::initModule()
 {
-    // Start Camera Controller (asynchronous)
-    if (auto camController = m_scene->getCamera()->getController())
-    {
-        this->startModuleInNewThread(camController);
-    }
-}
-
-void
-SceneManager::runModule()
-{
-    StopWatch wwt;
-    wwt.start();
-
-    // Reset Contact forces to 0
-    for (auto obj : m_scene->getSceneObjects())
-    {
-        if (auto defObj = std::dynamic_pointer_cast<DeformableObject>(obj))
-        {
-            defObj->getContactForce().setConstant(0.0);
-        }
-        else if (auto collidingObj = std::dynamic_pointer_cast<CollidingObject>(obj))
-        {
-            collidingObj->resetForce();
-        }
-    }
-
-    // Update objects controlled by the device controllers
-    for (auto controller : m_scene->getSceneObjectControllers())
-    {
-        controller->updateControlledObjects();
-    }
-
-    // Compute collision data per interaction pair
-    for (auto intPair : m_scene->getCollisionGraph()->getInteractionPairList())
-    {
-        intPair->computeCollisionData();
-    }
-
-    // Process collision data per interaction pair
-    for (auto intPair : m_scene->getCollisionGraph()->getInteractionPairList())
-    {
-        intPair->processCollisionData();
-    }
-
-    // Run the solvers
-    for (auto solvers : m_scene->getSolvers())
-    {
-        solvers->solve();
-    }
-
-    // Apply updated forces on device
-    for (auto controller : m_scene->getSceneObjectControllers())
-    {
-        controller->applyForces();
-    }
-
-    // Apply the geometry and apply maps to all the objects
-    for (auto obj : m_scene->getSceneObjects())
-    {
-        obj->updateGeometries();
-    }
-
-    // Set the trackers of the scene object controllers to out-of-date
-    for (auto controller : m_scene->getSceneObjectControllers())
-    {
-        controller->setTrackerToOutOfDate();
-    }
-
-    auto timeElapsed = wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds);
-
-    // Update time step size of the dynamic objects
-    for (auto obj : m_scene->getSceneObjects())
-    {
-        if (obj->getType() == SceneObject::Type::Pbd)
-        {
-            if (auto dynaObj = std::dynamic_pointer_cast<PbdObject>(obj))
-            {
-                if (dynaObj->getDynamicalModel()->getTimeStepSizeType() == TimeSteppingType::realTime)
-                {
-                    dynaObj->getDynamicalModel()->setTimeStep(timeElapsed);
-                }
-            }
-        }
-        else if (obj->getType() == SceneObject::Type::FEMDeformable)
-        {
-            if (auto dynaObj = std::dynamic_pointer_cast<DeformableObject>(obj))
-            {
-                if (dynaObj->getDynamicalModel()->getTimeStepSizeType() == TimeSteppingType::realTime)
-                {
-                    dynaObj->getDynamicalModel()->setTimeStep(timeElapsed);
-                }
-            }
-        }
-    }
-
-    m_scene->setFPS(1. / wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds));
+    m_scene->launchModules();
 }
 
 void

Source/SimulationManager/imstkSceneManager.h

@@ -54,7 +54,7 @@ public:
     ///
     /// \brief Get the scene that the scene manager is managing
     ///
-    std::shared_ptr<Scene> getScene();
+    std::shared_ptr<Scene> getScene() { return m_scene; };
 
 protected:
     ///
@@ -65,7 +65,7 @@ protected:
     ///
     /// \brief Run the module
     ///
-    void runModule() override;
+    void runModule() override { m_scene->advance(); };
 
     ///
     /// \brief Clean up the module