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ENH: Adds port hole interaction and body on body contact

Andrew Wilson requested to merge andrew.wilson/iMSTK:PortHoleInteraction into master

Adds PortHoleInteraction meant to be a way to easily apply fixed trocar port hole constraints, compliance can be altered if you need a bit of "give" to them. See RbdLapToolCollision example.

  • Adds PortHoleInteraction
auto portHoleInteraction = std::make_shared<PortHoleInteraction>(lapTool1);
portHoleInteraction->setPortHoleLocation(Vec3d(0.015, 0.092, -1.117));
portHoleInteraction->setToolGeometry(lapTool1->getCollidingGeometry());
portHoleInteraction->setCompliance(0.00001);
scene->addInteraction(portHoleInteraction);
  • Adds Body on Body Contact in PbdCollisionHandling
  • Adds BodyLineToPointConstraint for PortHoleInteraction.
  • Adds preprocessor statement which gives one example that uses two haptic devices.
  • Adds a fix for PbdBodyToBodyDistanceConstraint that allows it to work deformable-rigid as well as the existing rigid-rigid
  • Existing RbdLapToolExample now uses pbd rigids not second order rigids.

image

Edited by Andrew Wilson

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