Commit 8e7167b8 authored by Sreekanth Arikatla's avatar Sreekanth Arikatla
Browse files

Merge branch 'RBDcopy' into 'master'

Adds rigid body dynamics feature

See merge request iMSTK/iMSTK!367
parents 898c34bd 383fb2e6
......@@ -32,7 +32,7 @@ imstk_add_external_project( PhysX
-DTARGET_BUILD_PLATFORM:STRING=${PHYSX_TARGET_BUILD_PLATFORM}
-DPX_OUTPUT_ARCH:STRING=x86 # Either x86 or arm, only used for naming conventions (postfix)
-DPHYSX_ROOT_DIR:PATH=${PhysX_SOURCE_DIR}/physx
-DCMAKEMODULES_PATH:PATH=${PhysX_SOURCE_DIR}/externals/CMakeModules
-DCMAKEMODULES_PATH:PATH=${PhysX_SOURCE_DIR}/externals/cmakemodules
-DCMAKEMODULES_VERSION:STRING=1.27 # Must be set, but does not do anything...
-DPXSHARED_PATH:PATH=${PhysX_SOURCE_DIR}/pxshared
-DPX_OUTPUT_LIB_DIR:PATH=${PhysX_BINARY_DIR}
......
......@@ -9,13 +9,14 @@ if(NOT PHYSX_CONFIGURATION STREQUAL "RELEASE")
endif()
imstk_find_header(PhysX PxPhysicsAPI.h physx)
# NOTE: Link order matters on linux!
imstk_find_libary(PhysX PhysXExtensions _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXPvdSDK _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysX _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXCharacterKinematic _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXCommon _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXCooking _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXExtensions _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXCommon _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXFoundation _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXPvdSDK _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXCharacterKinematic _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_libary(PhysX PhysXVehicle _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
imstk_find_package(PhysX)
......
###########################################################################
#
# Copyright (c) Kitware, Inc.
#
# 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.
#
###########################################################################
project(Example-RigidBodyDynamics)
#-----------------------------------------------------------------------------
# Create executable
#-----------------------------------------------------------------------------
imstk_add_executable(${PROJECT_NAME} RigidBodyDynamicsExample.cpp)
#-----------------------------------------------------------------------------
# Add the target to Examples folder
#-----------------------------------------------------------------------------
SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME} SimulationManager)
#-----------------------------------------------------------------------------
# Associate external data
#-----------------------------------------------------------------------------
list(APPEND FILE_LIST
asianDragon/,REGEX:.*)
imstk_add_data(${PROJECT_NAME} ${FILE_LIST})
#-----------------------------------------------------------------------------
# Set MSVC working directory to the install/bin directory
#-----------------------------------------------------------------------------
if(MSVC) # Configure running executable out of MSVC
set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DEBUGGER_WORKING_DIRECTORY "${iMSTK_INSTALL_BIN_DIR}")
endif()
/*=========================================================================
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 "imstkSimulationManager.h"
#include "imstkRigidObject.h"
#include "imstkRigidBodyModel.h"
#include "imstkSceneObject.h"
#include "imstkTetrahedralMesh.h"
#include "imstkCube.h"
#include "imstkPlane.h"
#include "imstkSphere.h"
#include "imstkMeshIO.h"
#include "imstkIsometricMap.h"
using namespace imstk;
std::shared_ptr<imstk::RigidObject>
addMeshRigidObject(std::string& name, std::shared_ptr<Scene> scene, Vec3d pos)
{
// create cube object
auto meshObj = std::make_shared<RigidObject>(name);
// Load a tetrahedral mesh
auto tetMesh = imstk::MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg");
if (!tetMesh)
{
LOG(FATAL) << "Could not read mesh from file.";
}
// Extract the surface mesh
auto surfMesh = std::make_shared<SurfaceMesh>();
auto volTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(tetMesh);
if (!volTetMesh)
{
LOG(FATAL) << "Dynamic pointer cast from PointSet to TetrahedralMesh failed!";
}
volTetMesh->scale(15., Geometry::TransformType::ApplyToData);
volTetMesh->translate(pos, Geometry::TransformType::ApplyToData);
volTetMesh->extractSurfaceMesh(surfMesh, true);
// add visual model
auto renderModel = std::make_shared<VisualModel>(surfMesh);
auto mat = std::make_shared<RenderMaterial>();
mat->setDisplayMode(RenderMaterial::WIREFRAME_SURFACE);
mat->setLineWidth(2.);
mat->setColor(Color::Green);
renderModel->setRenderMaterial(mat);
meshObj->addVisualModel(renderModel);
// add dynamic model
auto rigidModel = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel->configure(surfMesh, rigidProp, RigidBodyType::Kinematic);
meshObj->setPhysicsGeometry(surfMesh);
meshObj->setDynamicalModel(rigidModel);
// add cube to scene
scene->addSceneObject(meshObj);
return meshObj;
}
std::shared_ptr<imstk::RigidObject>
addCubeRigidObject(std::string& name, std::shared_ptr<Scene> scene, Vec3d pos, const bool isStatic = false)
{
// create cube object
auto cubeObj = std::make_shared<RigidObject>(name);
// Create Cube object
auto cubeGeom = std::make_shared<Cube>();
cubeGeom->setWidth(20.);
cubeGeom->translate(pos);
// cube visual model
auto mesh = imstk::MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj");
auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(mesh);
SurfaceMesh->scale(5., Geometry::TransformType::ApplyToData);
auto renderModel = std::make_shared<VisualModel>(SurfaceMesh);
auto mat = std::make_shared<RenderMaterial>();
mat->setDisplayMode(RenderMaterial::SURFACE);
mat->setLineWidth(2.);
mat->setColor(Color::Orange);
renderModel->setRenderMaterial(mat);
cubeObj->addVisualModel(renderModel);
auto rigidMap = std::make_shared<IsometricMap>();
rigidMap->setMaster(cubeGeom);
rigidMap->setSlave(SurfaceMesh);
// cube dynamic model
auto rigidModel = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel->configure(cubeGeom, rigidProp, RigidBodyType::Dynamic);
cubeObj->setDynamicalModel(rigidModel);
cubeObj->setPhysicsToVisualMap(rigidMap);
// add cube to scene
scene->addSceneObject(cubeObj);
return cubeObj;
}
void
addPlaneRigidObject(std::shared_ptr<Scene> scene)
{
// create plane object
auto planeObj = std::make_shared<RigidObject>("Plane");
auto planeGeom = std::make_shared<Plane>();
planeGeom->setWidth(400.);
// visual model
auto renderModel2 = std::make_shared<VisualModel>(planeGeom);
renderModel2->setRenderMaterial(std::make_shared<RenderMaterial>());
planeObj->addVisualModel(renderModel2);
// dynamic model
auto rigidModel2 = std::make_shared<RigidBodyModel>();
auto rigidProp2 = std::make_shared<RigidBodyPropertyDesc>();
/* rigidProp2->m_staticFriction = 0.1;
rigidProp2->m_dynamicFriction = 0.1;
rigidProp2->m_restitution = 0.1;*/
rigidModel2->configure(planeGeom, rigidProp2, RigidBodyType::Static);
planeObj->setDynamicalModel(rigidModel2);
scene->addSceneObject(planeObj);
}
void
addSphereRigidObject(std::shared_ptr<Scene> scene, Vec3d t = Vec3d(0., 0., 0.))
{
// create cube object
auto sphereObj = std::make_shared<RigidObject>("Sphere");
// Create Cube object
auto sphereGeom = std::make_shared<Sphere>();
sphereGeom->setRadius(10.);
sphereGeom->translate(t);
// cube visual model
auto renderModel = std::make_shared<VisualModel>(sphereGeom);
renderModel->setRenderMaterial(std::make_shared<RenderMaterial>());
sphereObj->addVisualModel(renderModel);
// cube dynamic model
auto rigidModel3 = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel3->configure(sphereGeom, rigidProp, RigidBodyType::Dynamic);
sphereObj->setDynamicalModel(rigidModel3);
// add cube to scene
scene->addSceneObject(sphereObj);
}
int
main()
{
//SDK and Scene
auto sdk = std::make_shared<SimulationManager>();
auto scene = sdk->createNewScene("Rigid Body Dynamics");
for (int i = 0; i < 10; ++i)
{
addCubeRigidObject(std::string("cube_").append(std::to_string(i)), scene, Vec3d(0., 10. + i * 21, 0.));
}
addPlaneRigidObject(scene);
//addSphereRigidObject(scene, Vec3d(0., 200, 0.));
//auto rigidObj = addMeshRigidObject(std::string("dragon"), scene, Vec3d(0., 30., 0.));
// Set Camera configuration
auto cam = scene->getCamera();
cam->setPosition(Vec3d(300, 300, 300));
// Light
auto light = std::make_shared<DirectionalLight>("light");
light->setIntensity(1);
scene->addLight(light);
// Run
sdk->setActiveScene(scene);
sdk->startSimulation(SimulationStatus::PAUSED);
return 0;
}
###########################################################################
#
# Copyright (c) Kitware, Inc.
#
# 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.
#
###########################################################################
if(iMSTK_USE_OpenHaptics)
project(Example-RigidBodyVirtualCoupling)
#-----------------------------------------------------------------------------
# Create executable
#-----------------------------------------------------------------------------
imstk_add_executable(${PROJECT_NAME} RigidBodyVirtualCouplingExample.cpp)
#-----------------------------------------------------------------------------
# Add the target to Examples folder
#-----------------------------------------------------------------------------
SET_TARGET_PROPERTIES (${PROJECT_NAME} PROPERTIES FOLDER Examples)
#-----------------------------------------------------------------------------
# Link libraries to executable
#-----------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME} SimulationManager)
#-----------------------------------------------------------------------------
# Associate external data
#-----------------------------------------------------------------------------
list(APPEND FILE_LIST
asianDragon/,REGEX:.*)
imstk_add_data(${PROJECT_NAME} ${FILE_LIST})
#-----------------------------------------------------------------------------
# Set MSVC working directory to the install/bin directory
#-----------------------------------------------------------------------------
if(MSVC) # Configure running executable out of MSVC
set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DEBUGGER_WORKING_DIRECTORY "${iMSTK_INSTALL_BIN_DIR}")
endif()
endif()
/*=========================================================================
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 "imstkSimulationManager.h"
#include "imstkRigidObject.h"
#include "imstkRigidBodyModel.h"
#include "imstkSceneObject.h"
#include "imstkTetrahedralMesh.h"
#include "imstkCube.h"
#include "imstkPlane.h"
#include "imstkSphere.h"
#include "imstkMeshIO.h"
#include "imstkIsometricMap.h"
#include "imstkSimulationManager.h"
#include "imstkVirtualCouplingCH.h"
#include "imstkHDAPIDeviceServer.h"
#include "imstkHDAPIDeviceClient.h"
#include "imstkSceneObjectController.h"
#include "imstkPlane.h"
#include "imstkSphere.h"
#include "imstkRigidObject.h"
#include "imstkRigidBodyModel.h"
#include "imstkMeshIO.h"
#include "imstkCube.h"
#include "imstkIsometricMap.h"
// global variables
const std::string phantomOmni1Name = "Default Device";
using namespace imstk;
std::shared_ptr<imstk::RigidObject>
addMeshRigidObject(std::string& name, std::shared_ptr<Scene> scene, Vec3d pos)
{
// create cube object
auto meshObj = std::make_shared<RigidObject>(name);
// Load a tetrahedral mesh
auto tetMesh = imstk::MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.veg");
if (!tetMesh)
{
LOG(FATAL) << "Could not read mesh from file.";
}
// Extract the surface mesh
auto surfMesh = std::make_shared<SurfaceMesh>();
auto volTetMesh = std::dynamic_pointer_cast<TetrahedralMesh>(tetMesh);
if (!volTetMesh)
{
LOG(FATAL) << "Dynamic pointer cast from PointSet to TetrahedralMesh failed!";
}
volTetMesh->scale(15., Geometry::TransformType::ApplyToData);
volTetMesh->translate(pos, Geometry::TransformType::ApplyToData);
volTetMesh->extractSurfaceMesh(surfMesh, true);
// add visual model
auto renderModel = std::make_shared<VisualModel>(surfMesh);
auto mat = std::make_shared<RenderMaterial>();
mat->setDisplayMode(RenderMaterial::WIREFRAME_SURFACE);
mat->setLineWidth(2.);
mat->setColor(Color::Green);
renderModel->setRenderMaterial(mat);
meshObj->addVisualModel(renderModel);
// add dynamic model
auto rigidModel = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel->configure(surfMesh, rigidProp, RigidBodyType::Kinematic);
meshObj->setPhysicsGeometry(surfMesh);
meshObj->setDynamicalModel(rigidModel);
// add cube to scene
scene->addSceneObject(meshObj);
return meshObj;
}
std::shared_ptr<imstk::RigidObject>
addCubeRigidObject(std::string& name, std::shared_ptr<Scene> scene, Vec3d pos, const bool isStatic = false)
{
// create cube object
auto cubeObj = std::make_shared<RigidObject>(name);
// Create Cube object
auto cubeGeom = std::make_shared<Cube>();
cubeGeom->setWidth(20.);
cubeGeom->translate(pos);
// cube visual model
auto mesh = imstk::MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj");
auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(mesh);
SurfaceMesh->scale(5., Geometry::TransformType::ApplyToData);
auto renderModel = std::make_shared<VisualModel>(cubeGeom);
auto mat = std::make_shared<RenderMaterial>();
mat->setDisplayMode(RenderMaterial::SURFACE);
mat->setLineWidth(2.);
mat->setColor(Color::Orange);
renderModel->setRenderMaterial(mat);
cubeObj->addVisualModel(renderModel);
auto rigidMap = std::make_shared<IsometricMap>();
rigidMap->setMaster(cubeGeom);
rigidMap->setSlave(SurfaceMesh);
// cube dynamic model
auto rigidModel = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel->configure(cubeGeom, rigidProp, RigidBodyType::Dynamic);
cubeObj->setDynamicalModel(rigidModel);
cubeObj->setPhysicsToVisualMap(rigidMap);
// add cube to scene
scene->addSceneObject(cubeObj);
return cubeObj;
}
void
addPlaneRigidObject(std::shared_ptr<Scene> scene)
{
// create plane object
auto planeObj = std::make_shared<RigidObject>("Plane");
auto planeGeom = std::make_shared<Plane>();
planeGeom->setWidth(400.);
// visual model
auto renderModel2 = std::make_shared<VisualModel>(planeGeom);
renderModel2->setRenderMaterial(std::make_shared<RenderMaterial>());
planeObj->addVisualModel(renderModel2);
// dynamic model
auto rigidModel2 = std::make_shared<RigidBodyModel>();
auto rigidProp2 = std::make_shared<RigidBodyPropertyDesc>();
rigidModel2->configure(planeGeom, rigidProp2, RigidBodyType::Static);
planeObj->setDynamicalModel(rigidModel2);
scene->addSceneObject(planeObj);
}
void
addSphereRigidObject(std::shared_ptr<Scene> scene, Vec3d t = Vec3d(0., 0., 0.))
{
// create cube object
auto sphereObj = std::make_shared<RigidObject>("Sphere");
// Create Cube object
auto sphereGeom = std::make_shared<Sphere>();
sphereGeom->setRadius(10.);
sphereGeom->translate(t);
// cube visual model
auto renderModel = std::make_shared<VisualModel>(sphereGeom);
renderModel->setRenderMaterial(std::make_shared<RenderMaterial>());
sphereObj->addVisualModel(renderModel);
// cube dynamic model
auto rigidModel3 = std::make_shared<RigidBodyModel>();
auto rigidProp = std::make_shared<RigidBodyPropertyDesc>();
rigidModel3->configure(sphereGeom, rigidProp, RigidBodyType::Dynamic);
sphereObj->setDynamicalModel(rigidModel3);
// add cube to scene
scene->addSceneObject(sphereObj);
}
int
main()
{
//SDK and Scene
auto sdk = std::make_shared<SimulationManager>();
auto scene = sdk->createNewScene("Rigid Body Dynamics");
auto cubeObj = addCubeRigidObject(std::string("cube"), scene, Vec3d(0., 0., 0.));
addPlaneRigidObject(scene);
//addSphereRigidObject(scene, Vec3d(0., 200, 0.));
auto rigidObj = addMeshRigidObject(std::string("dragon"), scene, Vec3d(0., 30., 0.));
//-------------------------------------------------------------
// Device clients
auto client = std::make_shared<HDAPIDeviceClient>(phantomOmni1Name);
// Device Server
auto server = std::make_shared<HDAPIDeviceServer>();
server->addDeviceClient(client);
sdk->addModule(server);
// Create a virtual coupling object
auto visualGeom = std::make_shared<Sphere>();
visualGeom->setRadius(5.);
auto obj = std::make_shared<VisualObject>("VirtualCouplingObject");
auto material = std::make_shared<RenderMaterial>();
auto visualModel = std::make_shared<VisualModel>(visualGeom);
visualModel->setRenderMaterial(material);
obj->addVisualModel(visualModel);
scene->addSceneObject(obj);
// Device tracker
auto deviceTracker = std::make_shared<DeviceTracker>(client);
auto objController = std::make_shared<imstk::SceneObjectController>(obj, deviceTracker);
scene->addObjectController(objController);
//-----------------------------------------------------------------
auto rbModel = std::dynamic_pointer_cast<RigidBodyModel>(cubeObj->getDynamicalModel());
if (!rbModel)
{
addCubeRigidObject(std::string("cube"), scene, Vec3d(0., 40., 0.));
// throw error
}
auto prevCubePos = rbModel->getModelGeometry()->getTranslation();
auto forceFunc =
[&](Module* module)
{
auto devPos = deviceTracker->getPosition();
auto devQ = deviceTracker->getRotation();
rbModel->getModelGeometry()->rotate(devQ);
auto cubeGeo = std::dynamic_pointer_cast<Cube>(cubeObj->getPhysicsGeometry());
auto cubePos = rbModel->getModelGeometry()->getTranslation();
auto cubeVelocity = (cubePos - prevCubePos) / 2;
auto damp = -1000000 * cubeVelocity;
auto force = -1000 * (cubePos - devPos) + damp;
rbModel->addForce(force, Vec3d(0., 0., 0.));
prevCubePos = cubePos;
};