diff --git a/examples/AlphaMap/AlphaMappingExample.cpp b/examples/AlphaMap/AlphaMappingExample.cpp
index 7fd70cc76fdcc1af03a08679a20ade0251414680..6d91bda2185b47b3b7e1cee7c91cf45b95ac1265 100644
--- a/examples/AlphaMap/AlphaMappingExample.cpp
+++ b/examples/AlphaMap/AlphaMappingExample.cpp
@@ -50,8 +50,8 @@ AlphaMapExample::AlphaMapExample()
motionTrans = NULL;
hapticInterface = NULL;
- simmedtkSDK = smSDK::createSDK();
- object1 = new smStaticSceneObject();
+ simmedtkSDK = SDK::createSDK();
+ object1 = new StaticSceneObject();
smMetalShader *metalShader = new smMetalShader("../../resources/shaders/VertexBumpMap1.cg",
"../../resources/shaders/FragmentBumpMap1.cg");
@@ -65,7 +65,7 @@ AlphaMapExample::AlphaMapExample()
- smTextureManager::init(smSDK::getErrorLog());
+ smTextureManager::init(SDK::getErrorLog());
smTextureManager::loadTexture("../../resources/textures/4351-diffuse.jpg", "groundImage");
smTextureManager::loadTexture("../../resources/textures/4351-normal.jpg", "groundBumpImage");
smTextureManager::loadTexture("../../resources/textures/brick.jpg", "wallImage");
@@ -88,7 +88,7 @@ AlphaMapExample::AlphaMapExample()
SIMMEDTK_RENDER_TEXTURE | SIMMEDTK_RENDER_MATERIALCOLOR | SIMMEDTK_RENDER_TRANSPARENT);
object1->getRenderDetail()->addShader(metalShader->getUniqueId());
object1->mesh->translate(0, 10, -110);
- object1->mesh->scale(smVec3d(5, 5, 5));
+ object1->mesh->scale(core::Vec3d(5, 5, 5));
object1->getRenderDetail()->lineSize = 2;
object1->getRenderDetail()->pointSize = 5;
diff --git a/examples/AlphaMap/AlphaMappingExample.h b/examples/AlphaMap/AlphaMappingExample.h
index a866e52b875f24fe835dea85dadfdc6c2654e5aa..385207603ebe00da76cced116657f82633e37e4c 100644
--- a/examples/AlphaMap/AlphaMappingExample.h
+++ b/examples/AlphaMap/AlphaMappingExample.h
@@ -36,13 +36,13 @@
#include "Rendering/metalShader.h"
-class AlphaMapExample: public smSimulationMain, public smCoreClass
+class AlphaMapExample: public SimulationMain, public CoreClass
{
public:
- smStaticSceneObject *object1;
- smSDK* simmedtkSDK;
- smScene *scene1;
+ StaticSceneObject *object1;
+ SDK* simmedtkSDK;
+ Scene *scene1;
smViewer *viewer;
smPhantomInterface* hapticInterface;
@@ -51,7 +51,7 @@ public:
AlphaMapExample();
void initHapticCamMotion();
- virtual void simulateMain(smSimulationMainParam p_param)
+ virtual void simulateMain(SimulationMainParam p_param)
{
}
void draw() override;
diff --git a/examples/AudioExample/AudioExample.cpp b/examples/AudioExample/AudioExample.cpp
index d03a95687d291e9277e390acd0b72d8aaea5cd31..ec70fad8d37809ea0199d20d1b8c013dd06a891b 100644
--- a/examples/AudioExample/AudioExample.cpp
+++ b/examples/AudioExample/AudioExample.cpp
@@ -43,7 +43,7 @@ void AudioKeyboardController::setSound(std::shared_ptr<smAudio> a)
sound = a;
}
-void AudioKeyboardController::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void AudioKeyboardController::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
assert(sound);
@@ -88,13 +88,13 @@ void AudioKeyboardController::handleEvent(std::shared_ptr<mstk::Event::smEvent>
void runAudioExample()
{
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smViewer> viewer;
std::shared_ptr<smAudio> sound;
std::shared_ptr<AudioKeyboardController> audioCtl;
//Create an instance of the SimMedTK framework/SDK
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
//Create a viewer to see the scene through
viewer = std::make_shared<smViewer>();
diff --git a/examples/AudioExample/AudioExample.h b/examples/AudioExample/AudioExample.h
index ab6b491c5f74d73d6ed1caca4669babd25c5cbca..e6de836b17997ab5bd2736abd0f0193c26c3b06b 100644
--- a/examples/AudioExample/AudioExample.h
+++ b/examples/AudioExample/AudioExample.h
@@ -27,7 +27,7 @@
#include "Core/SDK.h"
#include "Devices/Audio.h"
-class AudioKeyboardController : public smCoreClass
+class AudioKeyboardController : public CoreClass
{
public:
/// \brief Default constructor
@@ -39,10 +39,10 @@ public:
/// \param a Pointer to sound to be controlled
AudioKeyboardController(std::shared_ptr<smAudio> a);
- /// \brief Event handling function from smCoreClass
+ /// \brief Event handling function from CoreClass
///
/// \param event Event to handle from the main event system
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief Set the sound to be controlled
///
diff --git a/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp b/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
index d66a3130d5ae9bff42b7ff4b68077305eca5140a..5642537e9f568eabc75dfb0436ba549ebd2d8db8 100644
--- a/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
+++ b/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
@@ -37,7 +37,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
moveObj = 9;
// Create the sdk
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
// Create scene
scene = sdk->createScene();
@@ -67,7 +67,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
smTextureManager::loadTexture("textures/brick-normal.jpg", "wallBumpImage");
// Create collision models
- std::shared_ptr<smMeshCollisionModel> collisionModelA = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<MeshCollisionModel> collisionModelA = std::make_shared<MeshCollisionModel>();
collisionModelA->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
collisionModelA->getMesh()->assignTexture("livertexture1");
collisionModelA->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
@@ -75,23 +75,23 @@ CollisionDetectionBVH::CollisionDetectionBVH()
collisionModelA->getMesh()->getRenderDetail()->lineSize = 2;
collisionModelA->getMesh()->getRenderDetail()->pointSize = 5;
- std::shared_ptr<smMeshCollisionModel> collisionModelB = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<MeshCollisionModel> collisionModelB = std::make_shared<MeshCollisionModel>();
collisionModelB->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
collisionModelB->getMesh()->assignTexture("livertexture2");
- collisionModelB->getMesh()->translate(smVec3d(2, 0, 0));
+ collisionModelB->getMesh()->translate(core::Vec3d(2, 0, 0));
collisionModelB->getMesh()->assignTexture("livertexture2");
collisionModelB->getMesh()->getRenderDetail()->shadowColor.rgba[0] = 1.0;
collisionModelB->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
// Add models to a collision pair so they can be queried for collision
- std::shared_ptr<smCollisionPair> collisionPair = std::make_shared<smCollisionPair>();
+ std::shared_ptr<CollisionPair> collisionPair = std::make_shared<CollisionPair>();
collisionPair->setModels(collisionModelA,collisionModelB);
// Collision detection to be used
- collisionDetection = std::make_shared<smMeshToMeshCollision>();
+ collisionDetection = std::make_shared<MeshToMeshCollision>();
// Create a static scene
- modelA = std::make_shared<smStaticSceneObject>();
+ modelA = std::make_shared<StaticSceneObject>();
modelA->setModel(collisionModelA);
sdk->registerSceneObject(modelA);
sdk->registerMesh(collisionModelA->getMesh());
@@ -100,7 +100,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
modelA->attachObjectSimulator(defaultSimulator);
// Initialize the scecond object
- modelB = std::make_shared<smStaticSceneObject>();
+ modelB = std::make_shared<StaticSceneObject>();
modelB->setModel(collisionModelB);
sdk->registerSceneObject(modelB);
sdk->registerMesh(collisionModelB->getMesh());
@@ -110,7 +110,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
scene->addSceneObject(modelB);
// Setup Scene lighting
- auto light = smLight::getDefaultLighting();
+ auto light = Light::getDefaultLighting();
assert(light);
scene->addLight(light);
@@ -138,7 +138,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
viewer->attachEvent(mstk::Event::EventType::Keyboard, keyShutdown);
}
-void CollisionDetectionBVH::simulateMain(const smSimulationMainParam &/*p_param*/)
+void CollisionDetectionBVH::simulateMain(const SimulationMainParam &/*p_param*/)
{
if ((10 > moveObj) && (moveObj > 0))
{
diff --git a/examples/CollisionDetectionBVH/CollisionDetectionBVH.h b/examples/CollisionDetectionBVH/CollisionDetectionBVH.h
index 7e84593b6b75592c64cfd68396b9736d94a80b6f..4231c247d24be713fbfe39b191da658a8e7921fe 100644
--- a/examples/CollisionDetectionBVH/CollisionDetectionBVH.h
+++ b/examples/CollisionDetectionBVH/CollisionDetectionBVH.h
@@ -41,25 +41,25 @@
#include "Collision/MeshToMeshCollision.h"
#include "Rendering/Viewer.h"
-class CollisionDetectionBVH: public smSimulationMain
+class CollisionDetectionBVH: public SimulationMain
{
public:
CollisionDetectionBVH();
~CollisionDetectionBVH(){}
- void simulateMain (const smSimulationMainParam &p_param) override;
+ void simulateMain (const SimulationMainParam &p_param) override;
void run();
public:
- std::shared_ptr<smSDK> sdk;
- std::shared_ptr<smStaticSceneObject> modelA;
- std::shared_ptr<smStaticSceneObject> modelB;
- std::shared_ptr<smScene> scene;
+ std::shared_ptr<SDK> sdk;
+ std::shared_ptr<StaticSceneObject> modelA;
+ std::shared_ptr<StaticSceneObject> modelB;
+ std::shared_ptr<Scene> scene;
std::shared_ptr<smViewer> viewer;
std::shared_ptr<smDummySimulator> defaultSimulator;
- std::shared_ptr<smSimulator> simulator;
- std::shared_ptr<smMeshToMeshCollision> collisionDetection;
+ std::shared_ptr<Simulator> simulator;
+ std::shared_ptr<MeshToMeshCollision> collisionDetection;
int moveObj;
};
diff --git a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
index fc3a5ca576516c39438b1a946cac9b56b4a4cc02..4e0f97665180b161afc45394f71094671eb39f0a 100644
--- a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
+++ b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
@@ -36,7 +36,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
moveObj = 9;
// Create the sdk
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
// Create scene
scene = sdk->createScene();
@@ -48,7 +48,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
sdk->addViewer(viewer);
// Intializes the spatial spatialHashinging
- spatialHashing = std::make_shared<smSpatialHashCollision>(10000, 2, 2, 2);
+ spatialHashing = std::make_shared<SpatialHashCollision>(10000, 2, 2, 2);
//Create the camera controller
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl = std::make_shared<mstk::Examples::Common::wasdCameraController>();
@@ -69,7 +69,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
smTextureManager::loadTexture("textures/brick-normal.jpg", "wallBumpImage");
// Create collision models
- std::shared_ptr<smMeshCollisionModel> collisionModelA = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<MeshCollisionModel> collisionModelA = std::make_shared<MeshCollisionModel>();
collisionModelA->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
collisionModelA->getMesh()->assignTexture("livertexture1");
collisionModelA->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
@@ -77,16 +77,16 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
collisionModelA->getMesh()->getRenderDetail()->lineSize = 2;
collisionModelA->getMesh()->getRenderDetail()->pointSize = 5;
- std::shared_ptr<smMeshCollisionModel> collisionModelB = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<MeshCollisionModel> collisionModelB = std::make_shared<MeshCollisionModel>();
collisionModelB->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
collisionModelB->getMesh()->assignTexture("livertexture2");
- collisionModelB->getMesh()->translate(smVec3d(2, 0, 0));
+ collisionModelB->getMesh()->translate(core::Vec3d(2, 0, 0));
collisionModelB->getMesh()->assignTexture("livertexture2");
collisionModelB->getMesh()->getRenderDetail()->shadowColor.rgba[0] = 1.0;
collisionModelB->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
// Create a static scene
- modelA = std::make_shared<smStaticSceneObject>();
+ modelA = std::make_shared<StaticSceneObject>();
modelA->setModel(collisionModelA);
sdk->registerSceneObject(modelA);
sdk->registerMesh(collisionModelA->getMesh());
@@ -96,7 +96,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
spatialHashing->addMesh(collisionModelA->getMesh());
// Initialize the scecond object
- modelB = std::make_shared<smStaticSceneObject>();
+ modelB = std::make_shared<StaticSceneObject>();
sdk->registerSceneObject(modelB);
sdk->registerMesh(collisionModelB->getMesh());
@@ -107,7 +107,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
scene->addSceneObject(modelB);
// Setup Scene lighting
- auto light = smLight::getDefaultLighting();
+ auto light = Light::getDefaultLighting();
assert(light);
scene->addLight(light);
@@ -123,7 +123,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
simulator->registerCollisionDetection(spatialHashing);
// Create dummy collision pair
- std::shared_ptr<smCollisionPair> collisionPair = std::make_shared<smCollisionPair>();
+ std::shared_ptr<CollisionPair> collisionPair = std::make_shared<CollisionPair>();
collisionPair->setModels(collisionModelA,collisionModelB);
simulator->addCollisionPair(collisionPair);
@@ -137,7 +137,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
viewer->attachEvent(mstk::Event::EventType::Keyboard, keyShutdown);
}
-void CollisionDetectionSpatialHashing::simulateMain(const smSimulationMainParam &/*p_param*/)
+void CollisionDetectionSpatialHashing::simulateMain(const SimulationMainParam &/*p_param*/)
{
if ((10 > moveObj) && (moveObj > 0))
{
diff --git a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.h b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.h
index b4a69ba9dd2921e1a5c92001b46585abefbe4741..457e23c5daa669eb00febacf656f4f941a97294b 100644
--- a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.h
+++ b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.h
@@ -40,7 +40,7 @@
#include "Collision/SpatialHashCollision.h"
#include "Rendering/Viewer.h"
-class CollisionDetectionSpatialHashing: public smSimulationMain
+class CollisionDetectionSpatialHashing: public SimulationMain
{
public:
@@ -48,18 +48,18 @@ public:
virtual ~CollisionDetectionSpatialHashing(){}
void draw ();
- void simulateMain (const smSimulationMainParam &p_param) override;
+ void simulateMain (const SimulationMainParam &p_param) override;
void run();
public:
- std::shared_ptr<smSDK> sdk;
- std::shared_ptr<smStaticSceneObject> modelA;
- std::shared_ptr<smStaticSceneObject> modelB;
- std::shared_ptr<smScene> scene;
+ std::shared_ptr<SDK> sdk;
+ std::shared_ptr<StaticSceneObject> modelA;
+ std::shared_ptr<StaticSceneObject> modelB;
+ std::shared_ptr<Scene> scene;
std::shared_ptr<smViewer> viewer;
std::shared_ptr<smDummySimulator> defaultSimulator;
- std::shared_ptr<smSimulator> simulator;
- std::shared_ptr<smSpatialHashCollision> spatialHashing;
+ std::shared_ptr<Simulator> simulator;
+ std::shared_ptr<SpatialHashCollision> spatialHashing;
int moveObj;
};
diff --git a/examples/CollisionGrid/CollisionDetectionExample.cpp b/examples/CollisionGrid/CollisionDetectionExample.cpp
index 66658629b7c5ac691912be86d6093615a699d8b8..ba7fd30680e25f8990ddc7f5c9559a3e6b5da954 100644
--- a/examples/CollisionGrid/CollisionDetectionExample.cpp
+++ b/examples/CollisionGrid/CollisionDetectionExample.cpp
@@ -51,10 +51,10 @@ CollisionDetectionExample::CollisionDetectionExample()
spatGrid = new smSpatialGrid();
///create the sdk
- simmedtkSDK = smSDK::createSDK();
+ simmedtkSDK = SDK::createSDK();
///create scene objects
- object1 = new smStaticSceneObject();
- object2 = new smStaticSceneObject();
+ object1 = new StaticSceneObject();
+ object2 = new StaticSceneObject();
///create a 3D lattice for each object
lat = new smLattice();
@@ -64,11 +64,11 @@ CollisionDetectionExample::CollisionDetectionExample()
scene1 = simmedtkSDK->createScene();
///dummy simulator. it translates the object
- dummySim = new smDummySimulator(smSDK::getErrorLog());
+ dummySim = new smDummySimulator(SDK::getErrorLog());
simmedtkSDK->getEventDispatcher()->registerEventHandler(dummySim, SIMMEDTK_EVENTTYPE_KEYBOARD);
///init texture manager and give the texture file names to be loaded
- smTextureManager::init(smSDK::getErrorLog());
+ smTextureManager::init(SDK::getErrorLog());
smTextureManager::loadTexture("../../resources/textures/fat9.bmp", "livertexture1");
smTextureManager::loadTexture("../../resources/textures/blood.jpg", "livertexture2");
@@ -95,9 +95,9 @@ CollisionDetectionExample::CollisionDetectionExample()
spatGrid->addLattice(lat);
///the similiar routines for object2
- object2 = new smStaticSceneObject();
+ object2 = new StaticSceneObject();
object2->mesh->loadMeshLegacy("../../resources/models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
- object2->mesh->translate(smVec3d(2, 0, 0));
+ object2->mesh->translate(core::Vec3d(2, 0, 0));
object2->mesh->assignTexture("livertexture2");
object2getRenderDetail()->shadowColor.rgba[0] = 1.0;
@@ -126,7 +126,7 @@ CollisionDetectionExample::CollisionDetectionExample()
//specify the viewer global settings
viewer->viewerRenderDetail = viewer->viewerRenderDetail | SIMMEDTK_VIEWERRENDER_GROUND;
- viewer->camera()->setFieldOfView(SM_DEGREES2RADIANS(60));
+ viewer->camera()->setFieldOfView(0.0174532925199433*(60));
viewer->camera()->setZClippingCoefficient(1000);
viewer->camera()->setZNearCoefficient(0.001);
viewer->list();
diff --git a/examples/CollisionGrid/CollisionDetectionExample.h b/examples/CollisionGrid/CollisionDetectionExample.h
index bd68a4bd0bbed4ab234ce13e2f464f7822aba378..54d36b36815b64295c2dac2a323fcb0eee0e9d87 100644
--- a/examples/CollisionGrid/CollisionDetectionExample.h
+++ b/examples/CollisionGrid/CollisionDetectionExample.h
@@ -36,18 +36,17 @@
#include "Collision/SpatialGrid.h"
-class CollisionDetectionExample: public smSimulationMain, public smCoreClass
+class CollisionDetectionExample: public SimulationMain, public CoreClass
{
public:
- smStaticSceneObject *object1;
- smStaticSceneObject *object2;
- smSDK* simmedtkSDK;
- smScene *scene1;
+ StaticSceneObject *object1;
+ StaticSceneObject *object2;
+ SDK* simmedtkSDK;
+ Scene *scene1;
smDummySimulator *dummySim;
smViewer *viewer;
- smSimulator *simulator;
- smPipeRegisteration myCollInformation;
+ Simulator *simulator;
smPhantomInterface* hapticInterface;
smHapticCameraTrans *motionTrans;
smSpatialGrid *spatGrid;
@@ -57,7 +56,7 @@ public:
CollisionDetectionExample();
void initHapticCamMotion();
- virtual void simulateMain(smSimulationMainParam p_param)
+ virtual void simulateMain(SimulationMainParam p_param)
{
}
diff --git a/examples/ExampleTool/exampleTool.cpp b/examples/ExampleTool/exampleTool.cpp
index d7bf13d987fc1759a2f4a7fec4f9857bc7c4bfa8..003c692c1a3bc490381193de9b99a45164aab21d 100644
--- a/examples/ExampleTool/exampleTool.cpp
+++ b/examples/ExampleTool/exampleTool.cpp
@@ -57,7 +57,7 @@ public:
{
}
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
s
MyStylus::handleEvent(p_event);
@@ -82,14 +82,14 @@ void main()
MyStylus *hapticStylus;
HookCautery *hapticStylus1;
smPhantomInterface * hapticInterface;
- smSDK* simmedtkSDK;
- smScene *scene1;
+ SDK* simmedtkSDK;
+ Scene *scene1;
smViewer *viewer;
- smSimulator *simulator;
+ Simulator *simulator;
smToolSimulator *toolSim;
///Initializes the lights
- smLight light("light0", SIMMEDTK_LIGHT_INFINITELIGHT, SIMMEDTK_LIGHTPOS_EYE);
+ Light light("light0", InfiniteLight, Eye);
light.lightColorDiffuse.setValue(0.8, 0.8, 0.8, 1);
light.lightColorAmbient.setValue(0.4, 0.4, 0.4, 1);
light.lightColorSpecular.setValue(0.9, 0.9, 0.9, 1);
@@ -97,11 +97,11 @@ void main()
light.lightPos.pos.setValue(0, 20.0, 20);
- light.direction = smVec3d(0.0, 0.0, -1.0);
+ light.direction = core::Vec3d(0.0, 0.0, -1.0);
light.drawEnabled = false;
- smLight light2("light1", SIMMEDTK_LIGHT_SPOTLIGHT, SIMMEDTK_LIGHTPOS_WORLD);
+ Light light2("light1", Spotlight, World);
light2.lightColorDiffuse.setValue(0.4, 0.4, 0.4, 1);
light2.lightColorAmbient.setValue(0.1, 0.1, 0.1, 1);
light2.lightColorSpecular.setValue(0.1, 0.1, 0.1, 1);
@@ -152,7 +152,7 @@ void main()
hapticStylus1getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE | SIMMEDTK_RENDER_MATERIALCOLOR);
///creates tool simulator
- toolSim = new smToolSimulator(smSDK::getErrorLog());
+ toolSim = new smToolSimulator(SDK::getErrorLog());
///define the execution of the simulator.
toolSim->setExecutionType(SIMMEDTK_SIMEXECUTION_ASYNCMODE);
@@ -162,7 +162,7 @@ void main()
hapticStylus1->attachObjectSimulator(toolSim);
///creates SDK
- simmedtkSDK = smSDK::createSDK();
+ simmedtkSDK = SDK::createSDK();
///create a scene.
scene1 = simmedtkSDK->createScene();
diff --git a/examples/ExampleTool2/exampleTool2.cpp b/examples/ExampleTool2/exampleTool2.cpp
index 8c6e45886e1b51a4a15424fe2f1547c9717496e0..aab247f9991ed7df4814652c27f0ce10070bdbc6 100644
--- a/examples/ExampleTool2/exampleTool2.cpp
+++ b/examples/ExampleTool2/exampleTool2.cpp
@@ -47,24 +47,24 @@ using namespace std;
void main()
{
smPhantomInterface * hapticInterface;
- smSDK* simmedtkSDK;
- smScene *scene1;
+ SDK* simmedtkSDK;
+ Scene *scene1;
smViewer *viewer;
- smSimulator *simulator;
+ Simulator *simulator;
///create lights
- smLight light("Light0", SIMMEDTK_LIGHT_INFINITELIGHT, SIMMEDTK_LIGHTPOS_EYE);
+ Light light("Light0", InfiniteLight, Eye);
light.lightColorDiffuse.setValue(0.8, 0.8, 0.8, 1);
light.lightColorAmbient.setValue(0.1, 0.1, 0.1, 1);
light.lightColorSpecular.setValue(0.9, 0.0, 0.0, 1);
light.spotCutOffAngle = 180.0;
light.lightPos.pos.setValue(0, 2.0, 0);
- light.direction = smVec3d(0.0, 0.0, 1.0);
+ light.direction = core::Vec3d(0.0, 0.0, 1.0);
light.drawEnabled = true;
- smLight light2("Light1", SIMMEDTK_LIGHT_SPOTLIGHT, SIMMEDTK_LIGHTPOS_WORLD);
+ Light light2("Light1", Spotlight, World);
light2.lightColorDiffuse.setValue(0.4, 0.4, 0.4, 1);
light2.lightColorAmbient.setValue(0.1, 0.1, 0.1, 1);
light2.lightColorSpecular.setValue(0.1, 0.1, 0.1, 1);
@@ -77,7 +77,7 @@ void main()
light2.castShadow = true;
///Creat the SDK. SDK is a singleton object.
- simmedtkSDK = smSDK::createSDK();
+ simmedtkSDK = SDK::createSDK();
scene1 = simmedtkSDK->createScene();
scene1->setName("Scene1");
@@ -98,7 +98,7 @@ void main()
metalShader->registerShader();
///tools are maniuplated with smToolSimulator
- smToolSimulator *toolSim = new smToolSimulator(smSDK::getErrorLog());
+ smToolSimulator *toolSim = new smToolSimulator(SDK::getErrorLog());
///curved grasper requires device ID and models for pivot, upper and lower mesh
curvedGrasper *curvedTool;
@@ -120,8 +120,8 @@ void main()
curvedTool->mesh_lowerJawgetRenderDetail()->shininess = 5.0;
curvedTool->mesh_upperJawgetRenderDetail()->shininess = 5.0;
curvedTool->mesh_pivotgetRenderDetail()->shininess = 5.0;
- curvedTool->mesh_lowerJaw->scale(smVec3d(1.0, 1.0, 1.5));
- curvedTool->mesh_upperJaw->scale(smVec3d(1.0, 1.0, 1.5));
+ curvedTool->mesh_lowerJaw->scale(core::Vec3d(1.0, 1.0, 1.5));
+ curvedTool->mesh_upperJaw->scale(core::Vec3d(1.0, 1.0, 1.5));
///Each mesh is attached with proper shader texture bindings
metalShader->attachMesh(curvedTool->mesh_lowerJaw, "bump", "metal", "specTex", "specTex", "specTex");
diff --git a/examples/MultipleObjects/MultipleObjects.cpp b/examples/MultipleObjects/MultipleObjects.cpp
index 637e76d398589231362c88f795b73e7e5baac695..92562f8a12d158bf5d207315a625d1852ff9ba2e 100644
--- a/examples/MultipleObjects/MultipleObjects.cpp
+++ b/examples/MultipleObjects/MultipleObjects.cpp
@@ -31,21 +31,21 @@
void createPBDandFEM()
{
- smSDK *simmedtkSDK;
+ SDK *simmedtkSDK;
smFemSceneObject *femobj;
smFemSimulator *femSim;
smPBDSurfaceSceneObject *pbdObject;
smPBDObjectSimulator * pbd;
- smMatrix33d mat;
- smSimulator *simulator;
+ Matrix33d mat;
+ Simulator *simulator;
smViewer *viewer;
- smScene *scene1;
+ Scene *scene1;
///create rotation matrix
- mat.rotAroundX(SM_PI);
+ mat.rotAroundX(M_PI);
///SDK is singlenton class so create SDK and return SDK returns the same SDK
- simmedtkSDK = smSDK::getInstance();
+ simmedtkSDK = SDK::getInstance();
///init texture manager and load the textures
smTextureManager::init(simmedtkSDK->getErrorLog());
@@ -72,13 +72,13 @@ void createPBDandFEM()
femobj->v_mesh->LoadTetra("../../resources/models/cylinder_Mesh.txt");
femobj->v_mesh->getSurface("../../resources/models/cylinder_smesh.txt");
femobj->v_mesh->readBC("../../resources/models/cylinder_BC.txt");
- femobj->v_mesh->scaleVolumeMesh(smVec3d(1, 1, 1));
- femobjgetRenderDetail()->colorDiffuse = smColor::colorBlue;
- femobjgetRenderDetail()->colorAmbient = smColor::colorBlue;
- femobjgetRenderDetail()->shadowColor = smColor(0.2, 0.2, 0.2);
+ femobj->v_mesh->scaleVolumeMesh(core::Vec3d(1, 1, 1));
+ femobjgetRenderDetail()->colorDiffuse = Color::colorBlue;
+ femobjgetRenderDetail()->colorAmbient = Color::colorBlue;
+ femobjgetRenderDetail()->shadowColor = Color(0.2, 0.2, 0.2);
femobj->v_mesh->rotate(mat);
- femobj->v_mesh->scaleVolumeMesh(smVec3d(0.5, 0.5, 1.0));
- femobj->v_mesh->translateVolumeMesh(smVec3d(20, 15, 20));
+ femobj->v_mesh->scaleVolumeMesh(core::Vec3d(0.5, 0.5, 1.0));
+ femobj->v_mesh->translateVolumeMesh(core::Vec3d(20, 15, 20));
femobjgetRenderDetail()->renderType = (SIMMEDTK_RENDER_MATERIALCOLOR | SIMMEDTK_RENDER_SHADOWS | SIMMEDTK_RENDER_FACES);
femobjgetRenderDetail()->lineSize = 1.0;
femobjgetRenderDetail()->pointSize = 5;
@@ -88,13 +88,13 @@ void createPBDandFEM()
///create a position based dynamics(PBD) surface object
pbdObject = new smPBDSurfaceSceneObject();
- pbdObjectgetRenderDetail()->colorDiffuse = smColor::colorWhite;
- pbdObjectgetRenderDetail()->colorAmbient = smColor::colorWhite;
+ pbdObjectgetRenderDetail()->colorDiffuse = Color::colorWhite;
+ pbdObjectgetRenderDetail()->colorAmbient = Color::colorWhite;
pbdObject->mesh->loadMeshLegacy("../../resources/models/clothtextured.3ds", SM_FILETYPE_3DS);
//pbdObject->mesh->rotate(mat);
- pbdObject->mesh->scale(smVec3d(2.3, 0.5, 2));
- pbdObject->mesh->translate(smVec3d(11, 25, 0));
+ pbdObject->mesh->scale(core::Vec3d(2.3, 0.5, 2));
+ pbdObject->mesh->translate(core::Vec3d(11, 25, 0));
pbdObject->mesh->assignTexture("clothtexture");
pbdObjectgetRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE | SIMMEDTK_RENDER_MATERIALCOLOR);
pbdObject->initMeshStructure();
@@ -104,7 +104,7 @@ void createPBDandFEM()
pbdObject->findFixedCorners();
///can use sphere shape to fix the vertices
- ///pbdObject->findFixedMassWrtSphere(smVec3d(11,23,0),5);
+ ///pbdObject->findFixedMassWrtSphere(core::Vec3d(11,23,0),5);
///attach object to the simulator
pbdObject->attachObjectSimulator(pbd);
diff --git a/examples/common/KeyPressSDKShutdown.cpp b/examples/common/KeyPressSDKShutdown.cpp
index c791f85dd7a9b6ae4ec633fffd6a2da9a5439489..6216d7053d361d305f726e2993ef4671d1ed41fd 100644
--- a/examples/common/KeyPressSDKShutdown.cpp
+++ b/examples/common/KeyPressSDKShutdown.cpp
@@ -34,14 +34,14 @@ KeyPressSDKShutdown::KeyPressSDKShutdown() : key(mstk::Event::smKey::Escape)
{
}
-void KeyPressSDKShutdown::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void KeyPressSDKShutdown::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
auto keyboardEvent = std::static_pointer_cast<mstk::Event::smKeyboardEvent>(event);
if(keyboardEvent->getPressed())
{
if (keyboardEvent->getKeyPressed() == this->key)
{
- smSDK::getInstance()->shutDown();
+ SDK::getInstance()->shutDown();
}
}
}
diff --git a/examples/common/KeyPressSDKShutdown.h b/examples/common/KeyPressSDKShutdown.h
index f17b316e86b8ace394e2c97a0e12a775d01cfd7c..b477b21a925ade51b4cbf4547d38954f71a1d255 100644
--- a/examples/common/KeyPressSDKShutdown.h
+++ b/examples/common/KeyPressSDKShutdown.h
@@ -32,7 +32,7 @@ namespace Examples {
namespace Common {
/// \brief Will shutdown the SDK when the a specified key is pressed
-class KeyPressSDKShutdown : public smCoreClass
+class KeyPressSDKShutdown : public CoreClass
{
public:
/// \brief Default constructor
@@ -40,10 +40,10 @@ public:
/// \detail Default key is escape
KeyPressSDKShutdown();
- /// \brief Event handling function from smCoreClass
+ /// \brief Event handling function from CoreClass
///
/// \param event Event to handle from the main event system
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief Set the keyboard key to listen for
///
diff --git a/examples/common/hapticController.cpp b/examples/common/hapticController.cpp
index d0c27a73b0e7ad4a2383c057b723a369afa74459..410b2eb255edf30cb6927998e59ccbf1dc62591b 100644
--- a/examples/common/hapticController.cpp
+++ b/examples/common/hapticController.cpp
@@ -28,7 +28,7 @@
using namespace mstk::Examples::Common;
-void hapticController::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void hapticController::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
auto hapticEvent = std::static_pointer_cast<mstk::Event::smHapticEvent>(event);
if(hapticEvent != nullptr && hapticEvent->getButtonState(0))
diff --git a/examples/common/hapticController.h b/examples/common/hapticController.h
index 28a99af234650872a2f4070d073bbc15e0a725fb..6b36bc8820f0c9b5211448d06be9c932da051c60 100644
--- a/examples/common/hapticController.h
+++ b/examples/common/hapticController.h
@@ -33,7 +33,7 @@ namespace Examples {
namespace Common {
/// \brief Will shutdown the SDK when the a specified key is pressed
-class hapticController : public smCoreClass
+class hapticController : public CoreClass
{
public:
/// \brief Default constructor
@@ -41,10 +41,10 @@ public:
/// \detail Default key is escape
hapticController(){}
- /// \brief Event handling function from smCoreClass
+ /// \brief Event handling function from CoreClass
///
/// \param event Event to handle from the main event system
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief Set the scene objects which gets affected by this haptic event
///
diff --git a/examples/common/pzrMouseCameraController.cpp b/examples/common/pzrMouseCameraController.cpp
index 37c86de94bacbea1043ffab59a91c2c77461e1d1..915c5f6155a88ea47df7f546a947d39633d379db 100644
--- a/examples/common/pzrMouseCameraController.cpp
+++ b/examples/common/pzrMouseCameraController.cpp
@@ -25,7 +25,6 @@
#include "Event/MouseButtonEvent.h"
#include "Event/MouseMoveEvent.h"
-#include "Core/Math.h"
namespace mstk {
namespace Examples {
@@ -54,7 +53,7 @@ void pzrMouseCameraController::setStepSize(float size)
moveDistance = size;
}
-void pzrMouseCameraController::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void pzrMouseCameraController::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
assert(nullptr != event);
assert(nullptr != camera);
@@ -83,8 +82,8 @@ void pzrMouseCameraController::handleEvent(std::shared_ptr<mstk::Event::smEvent>
auto mouseMoveEvent = std::dynamic_pointer_cast<Event::smMouseMoveEvent>(event);
if(mouseMoveEvent != nullptr)
{
- smVec2f diff;
- smVec2f newCoords;
+ core::Vec2f diff;
+ core::Vec2f newCoords;
newCoords = mouseMoveEvent->getWindowCoord().cast<float>();
diff = coords - newCoords;
@@ -92,15 +91,16 @@ void pzrMouseCameraController::handleEvent(std::shared_ptr<mstk::Event::smEvent>
if(lmbPressed && rmbPressed)
{
//pan x and y
- this->camera->pan(smVec3f(diff(0), diff(1), 0) * moveDistance);
+ this->camera->pan(core::Vec3f(diff(0), diff(1), 0) * moveDistance);
//reset coords for next mouse move event
coords = newCoords;
}
else if(lmbPressed)
{
//rotate
- this->camera->rotateFocusX(SM_DEGREES2RADIANS(moveDistance * diff(1)));
- this->camera->rotateFocusY(SM_DEGREES2RADIANS(moveDistance * diff(0)));
+ // In radians
+ this->camera->rotateFocusX(0.0174532925199433*(moveDistance * diff(1)));
+ this->camera->rotateFocusY(0.0174532925199433*(moveDistance * diff(0)));
//reset coords for next mouse move event
coords = newCoords;
}
diff --git a/examples/common/pzrMouseCameraController.h b/examples/common/pzrMouseCameraController.h
index 040019138f49476c27fb6bc1ad6f828b8d82c8e3..7ccae54e03c3efd395d3bf32cc87862cb4779c81 100644
--- a/examples/common/pzrMouseCameraController.h
+++ b/examples/common/pzrMouseCameraController.h
@@ -38,7 +38,7 @@ namespace Common {
/// Shift + W = up, Shift + S = down
/// To use this class, it must be registered with the event system.
///
-class pzrMouseCameraController : public smCoreClass
+class pzrMouseCameraController : public CoreClass
{
public:
/// \brief Default constructor
@@ -50,10 +50,10 @@ public:
/// \param cam Pointer to camera to be controlled
pzrMouseCameraController(std::shared_ptr<smCamera> cam);
- /// \brief Event handling function from smCoreClass
+ /// \brief Event handling function from CoreClass
///
/// \param event Event to handle from the main event system
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief Set the camera to be controlled
///
@@ -70,7 +70,7 @@ private:
float moveDistance; ///< Modifier to the movement distance for operations
bool lmbPressed; ///< Left mouse button (un)pressed
bool rmbPressed; ///< Right mouse button (un)pressed
- smVec2f coords; ///< Record of last window coords manipulated
+ core::Vec2f coords; ///< Record of last window coords manipulated
};
}//Common
diff --git a/examples/common/wasdCameraController.cpp b/examples/common/wasdCameraController.cpp
index 3c4b011be021ae6bb30bd444594a154c3f296082..67e3fa2a5a831e3157d18323598045bcdbd522c6 100644
--- a/examples/common/wasdCameraController.cpp
+++ b/examples/common/wasdCameraController.cpp
@@ -50,7 +50,7 @@ void wasdCameraController::setStepSize(float size)
moveDistance = size;
}
-void wasdCameraController::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void wasdCameraController::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
assert(nullptr != event);
assert(nullptr != camera);
@@ -58,7 +58,7 @@ void wasdCameraController::handleEvent(std::shared_ptr<mstk::Event::smEvent> eve
auto keyboardEvent = std::static_pointer_cast<mstk::Event::smKeyboardEvent>(event);
if(keyboardEvent->getPressed())
{
- smVec3f dispVec = smVec3f::Zero(); //Vector to store displacement of camera
+ core::Vec3f dispVec = core::Vec3f::Zero(); //Vector to store displacement of camera
switch(keyboardEvent->getKeyPressed())
{
case mstk::Event::smKey::W:
diff --git a/examples/common/wasdCameraController.h b/examples/common/wasdCameraController.h
index 2843bf1859146466403a2171d45e62cbf16cfcf7..06e35a68a6eea1a60cd3e513047dc70551e2d4ba 100644
--- a/examples/common/wasdCameraController.h
+++ b/examples/common/wasdCameraController.h
@@ -38,7 +38,7 @@ namespace Common {
/// Shift + W = up, Shift + S = down
/// To use this class, it must be registered with the event system.
///
-class wasdCameraController : public smCoreClass
+class wasdCameraController : public CoreClass
{
public:
/// \brief Default constructor
@@ -50,10 +50,10 @@ public:
/// \param cam Pointer to camera to be controlled
wasdCameraController(std::shared_ptr<smCamera> cam);
- /// \brief Event handling function from smCoreClass
+ /// \brief Event handling function from CoreClass
///
/// \param event Event to handle from the main event system
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief Set the camera to be controlled
///
diff --git a/examples/renderCube/main.cpp b/examples/renderCube/main.cpp
index 569117ac499aa69efa3bc5a61d59b11215bdaf25..9d0ab129cf5bd7977d5b6f1c1c1dd0a9526f22ca 100644
--- a/examples/renderCube/main.cpp
+++ b/examples/renderCube/main.cpp
@@ -35,17 +35,17 @@
int main()
{
SIMMEDTK_REGISTER_RENDER_DELEGATES();
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smViewer> viewer;
- std::shared_ptr<smScene> scene1;
- std::shared_ptr<smLight> light;
+ std::shared_ptr<Scene> scene1;
+ std::shared_ptr<Light> light;
std::shared_ptr<smCamera> sceneCamera;
- std::shared_ptr<smStaticSceneObject> cube;
+ std::shared_ptr<StaticSceneObject> cube;
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl;
std::shared_ptr<mstk::Examples::Common::KeyPressSDKShutdown> keyShutdown;
std::shared_ptr<mstk::Examples::Common::pzrMouseCameraController> pzrCamCtl;
//Create an instance of the SimMedTK framework/SDK
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
//Create a new scene to work in
scene1 = sdk->createScene();
@@ -62,10 +62,10 @@ int main()
auto cubeModel = std::make_shared<smMeshModel>();
cubeModel->load("models/cube.obj", "textures/cube.png", "cubetex");
- auto renderDetail = std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ auto renderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
cubeModel->setRenderDetail(renderDetail);
- cube = std::make_shared<smStaticSceneObject>();
+ cube = std::make_shared<StaticSceneObject>();
cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
@@ -84,7 +84,7 @@ int main()
//viewer->viewerRenderDetail |= SIMMEDTK_VIEWERRENDER_FULLSCREEN;
// Setup Scene lighting
- light = smLight::getDefaultLighting();
+ light = Light::getDefaultLighting();
assert(light);
scene1->addLight(light);
diff --git a/examples/renderCubeOculus/main.cpp b/examples/renderCubeOculus/main.cpp
index d027ce70111beac8834c1e5652aec3724287ffbe..69eb6a785dc17d95aefdf22e4b6cf00787485664 100644
--- a/examples/renderCubeOculus/main.cpp
+++ b/examples/renderCubeOculus/main.cpp
@@ -33,17 +33,17 @@
int main()
{
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smOculusViewer> viewer;
- std::shared_ptr<smScene> scene1;
- std::shared_ptr<smLight> light;
+ std::shared_ptr<Scene> scene1;
+ std::shared_ptr<Light> light;
std::shared_ptr<smCamera> sceneCamera;
- std::shared_ptr<smStaticSceneObject> cube;
+ std::shared_ptr<StaticSceneObject> cube;
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl;
std::shared_ptr<mstk::Examples::Common::KeyPressSDKShutdown> keyShutdown;
//Create an instance of the SimMedTK framework/SDK
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
//Create a new scene to work in
scene1 = sdk->createScene();
@@ -59,10 +59,10 @@ int main()
auto cubeModel = std::make_shared<smMeshModel>();
cubeModel->load("models/cube.obj", "textures/cube.png", "cubetex");
- auto renderDetail = std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ auto renderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
cubeModel->setRenderDetail(renderDetail);
- cube = std::make_shared<smStaticSceneObject>();
+ cube = std::make_shared<StaticSceneObject>();
cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
@@ -81,7 +81,7 @@ int main()
viewer->viewerRenderDetail |= SIMMEDTK_VIEWERRENDER_FULLSCREEN;
// Setup Scene lighting
- light = smLight::getDefaultLighting();
+ light = Light::getDefaultLighting();
assert(light);
scene1->addLight(light);
diff --git a/examples/renderCubeToTexture/main.cpp b/examples/renderCubeToTexture/main.cpp
index 75ee8b83349e4ca15741c60ca2f38f955fb78270..d206d7132eb93d36f4114bb8e2d14326c212c29f 100644
--- a/examples/renderCubeToTexture/main.cpp
+++ b/examples/renderCubeToTexture/main.cpp
@@ -32,17 +32,17 @@
int main()
{
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smViewer> viewer;
- std::shared_ptr<smScene> scene1, scene2;
- std::shared_ptr<smLight> light1, light2;
+ std::shared_ptr<Scene> scene1, scene2;
+ std::shared_ptr<Light> light1, light2;
std::shared_ptr<smCamera> sceneCamera1, sceneCamera2;
- std::shared_ptr<smStaticSceneObject> cube, square;
+ std::shared_ptr<StaticSceneObject> cube, square;
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl;
std::shared_ptr<mstk::Examples::Common::KeyPressSDKShutdown> keyShutdown;
//Create an instance of the SimMedTK framework/SDK
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
//Create the scenes
scene1 = sdk->createScene(); //internal scene containing cube
@@ -59,10 +59,10 @@ int main()
auto cubeModel = std::make_shared<smMeshModel>();
cubeModel->load("models/cube.obj", "textures/cube.png", "cubetex");
- auto renderDetail = std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ auto renderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
cubeModel->setRenderDetail(renderDetail);
- cube = std::make_shared<smStaticSceneObject>();
+ cube = std::make_shared<StaticSceneObject>();
cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
@@ -76,10 +76,10 @@ int main()
std::shared_ptr<smMeshModel> squareModel = std::make_shared<smMeshModel>();
squareModel->load("models/square.obj", SM_FILETYPE_OBJ);
squareModel->getMesh()->assignTexture("colorTex1");
- renderDetail= std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ renderDetail= std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
squareModel->setRenderDetail(renderDetail);
- square = std::make_shared<smStaticSceneObject>();
+ square = std::make_shared<StaticSceneObject>();
square->setModel(squareModel);
//Setup an FBO for rendering in the viewer.
@@ -106,13 +106,13 @@ int main()
//viewer->viewerRenderDetail |= SIMMEDTK_VIEWERRENDER_FULLSCREEN;
// Setup Scene lighting
- light1 = smLight::getDefaultLighting();
+ light1 = Light::getDefaultLighting();
assert(light1);
scene1->addLight(light1);
- light2 = smLight::getDefaultLighting();
+ light2 = Light::getDefaultLighting();
assert(light2);
- light2->lightPos.setPosition(smVec3d(0.0, 0.0, 5.0));
+ light2->lightPos.setPosition(core::Vec3d(0.0, 0.0, 5.0));
scene2->addLight(light2);
// Camera setup
diff --git a/examples/renderCubeToTextureOculus/main.cpp b/examples/renderCubeToTextureOculus/main.cpp
index 2e19b0ed55da6cc1f77801ca24a454c4d2061dd8..6d1036039d887cac1a7f4e273e3e998d7d2f5885 100644
--- a/examples/renderCubeToTextureOculus/main.cpp
+++ b/examples/renderCubeToTextureOculus/main.cpp
@@ -33,17 +33,17 @@
int main()
{
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smOculusViewer> viewer;
- std::shared_ptr<smScene> scene1, scene2;
- std::shared_ptr<smLight> light1, light2;
+ std::shared_ptr<Scene> scene1, scene2;
+ std::shared_ptr<Light> light1, light2;
std::shared_ptr<smCamera> sceneCamera1, sceneCamera2;
- std::shared_ptr<smStaticSceneObject> cube, square;
+ std::shared_ptr<StaticSceneObject> cube, square;
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl;
std::shared_ptr<mstk::Examples::Common::KeyPressSDKShutdown> keyShutdown;
//Create an instance of the SimMedTK framework/SDK
- sdk = smSDK::getInstance();
+ sdk = SDK::getInstance();
//Create the scenes
scene1 = sdk->createScene(); //internal scene containing cube
@@ -60,10 +60,10 @@ int main()
auto cubeModel = std::make_shared<smMeshModel>();
cubeModel->load("models/cube.obj", "textures/cube.png", "cubetex");
- auto renderDetail = std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ auto renderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
cubeModel->setRenderDetail(renderDetail);
- cube = std::make_shared<smStaticSceneObject>();
+ cube = std::make_shared<StaticSceneObject>();
cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
@@ -77,10 +77,10 @@ int main()
std::shared_ptr<smMeshModel> squareModel = std::make_shared<smMeshModel>();
squareModel->load("models/square.obj", SM_FILETYPE_OBJ);
squareModel->getMesh()->assignTexture("colorTex1");
- renderDetail= std::make_shared<smRenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ renderDetail= std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
squareModel->setRenderDetail(renderDetail);
- square = std::make_shared<smStaticSceneObject>();
+ square = std::make_shared<StaticSceneObject>();
square->setModel(squareModel);
//Setup an FBO for rendering in the viewer.
@@ -107,13 +107,13 @@ int main()
viewer->viewerRenderDetail |= SIMMEDTK_VIEWERRENDER_FULLSCREEN;
// Setup Scene lighting
- light1 = smLight::getDefaultLighting();
+ light1 = Light::getDefaultLighting();
assert(light1);
scene1->addLight(light1);
- light2 = smLight::getDefaultLighting();
+ light2 = Light::getDefaultLighting();
assert(light2);
- light2->lightPos.setPosition(smVec3d(0.0, 0.0, 5.0));
+ light2->lightPos.setPosition(core::Vec3d(0.0, 0.0, 5.0));
scene2->addLight(light2);
// Camera setup
diff --git a/examples/vegaFem/main.cpp b/examples/vegaFem/main.cpp
index cf90afe3c37941779679515b3e71638c87d9a483..ac5213821caf25b89f4f65f9f7b1658089a0493e 100644
--- a/examples/vegaFem/main.cpp
+++ b/examples/vegaFem/main.cpp
@@ -54,28 +54,28 @@
int main()
{
SIMMEDTK_REGISTER_RENDER_DELEGATES();
- std::shared_ptr<smSDK> sdk;
+ std::shared_ptr<SDK> sdk;
std::shared_ptr<smVegaFemSceneObject> femObject;
- std::shared_ptr<smStaticSceneObject> staticObject;
+ std::shared_ptr<StaticSceneObject> staticObject;
std::shared_ptr<smVegaFemSimulator> femSimulator;
std::shared_ptr<smDummySimulator> staticSimulator;
- std::shared_ptr<smPlaneCollisionModel> plane;
+ std::shared_ptr<PlaneCollisionModel> plane;
std::shared_ptr<smViewer> viewer;
- std::shared_ptr<smScene> scene;
- std::shared_ptr<smLight> light;
+ std::shared_ptr<Scene> scene;
+ std::shared_ptr<Light> light;
std::shared_ptr<smCamera> sceneCamera;
std::shared_ptr<mstk::Examples::Common::wasdCameraController> camCtl;
std::shared_ptr<mstk::Examples::Common::KeyPressSDKShutdown> keyShutdown;
std::shared_ptr<mstk::Examples::Common::pzrMouseCameraController> pzrCamCtl;
//std::shared_ptr<mstk::Examples::Common::hapticController> hapticCtl;
- smMatrix33d mat;
+ Matrix33d mat;
//-------------------------------------------------------
// 1. Create an instance of the SoFMIS framework/SDK
// 2. Create viewer
// 3. Create default scene (scene 0)
//-------------------------------------------------------
- sdk = smSDK::createStandardSDK();
+ sdk = SDK::createStandardSDK();
//-------------------------------------------------------
// Create scene actor 1: fem scene object + fem simulator
@@ -89,13 +89,13 @@ int main()
sdk->getErrorLog(),
"asianDragon/asianDragon.config");
- auto femObjRenderDetail = std::make_shared<smRenderDetail>(
+ auto femObjRenderDetail = std::make_shared<RenderDetail>(
//SIMMEDTK_RENDER_WIREFRAME
//| SIMMEDTK_RENDER_VERTICES
SIMMEDTK_RENDER_FACES
);
femObjRenderDetail->setPointSize(4.0);
- smColor maroon(165.0f / 255, 42.0f / 255, 42.0f / 255, 1.0);
+ Color maroon(165.0f / 255, 42.0f / 255, 42.0f / 255, 1.0);
femObjRenderDetail->setVertexColor(maroon);
femObjRenderDetail->setNormalLength(0.02);
@@ -114,10 +114,10 @@ int main()
staticSimulator = std::make_shared<smDummySimulator>(sdk->getErrorLog());
// create a static plane scene object of given normal and position
- staticObject = std::make_shared<smStaticSceneObject>();
+ staticObject = std::make_shared<StaticSceneObject>();
- plane = std::make_shared<smPlaneCollisionModel>(smVec3d(0.0, -3.0, 0.0),
- smVec3d(0.0, 1.0, 0.0));
+ plane = std::make_shared<PlaneCollisionModel>(core::Vec3d(0.0, -3.0, 0.0),
+ core::Vec3d(0.0, 1.0, 0.0));
staticObject->setModel(plane);
sdk->addSceneActor(staticObject, staticSimulator);
@@ -133,24 +133,24 @@ int main()
//-------------------------------------------------------
// Enable collision between scene actors 1 and 2
//-------------------------------------------------------
- auto meshModel = std::make_shared<smMeshCollisionModel>();
+ auto meshModel = std::make_shared<MeshCollisionModel>();
meshModel->setMesh(femObject->getPrimarySurfaceMesh());
- auto planeMeshCollisionPairs = std::make_shared<smCollisionPair>();
+ auto planeMeshCollisionPairs = std::make_shared<CollisionPair>();
planeMeshCollisionPairs->setModels(meshModel, plane);
sdkSimulator->addCollisionPair(planeMeshCollisionPairs);
- auto planeToMeshCollisionDetection = std::make_shared<smPlaneToMeshCollision>();
+ auto planeToMeshCollisionDetection = std::make_shared<PlaneToMeshCollision>();
sdkSimulator->registerCollisionDetection(planeToMeshCollisionDetection);
//-------------------------------------------------------
// Enable contact handling between scene actors 1 and 2
//-------------------------------------------------------
- auto planeToMeshContact = std::make_shared<smPenaltyContactFemToStatic>(false);
+ auto planeToMeshContact = std::make_shared<PenaltyContactFemToStatic>(false);
planeToMeshContact->setCollisionPairs(planeMeshCollisionPairs);
@@ -174,7 +174,7 @@ int main()
viewer->registerScene(scene, SMRENDERTARGET_SCREEN, "Collision pipeline demo");
// Setup Scene lighting
- light = smLight::getDefaultLighting();
+ light = Light::getDefaultLighting();
scene->addLight(light);
// Camera setup
diff --git a/src/Collision/CollisionMoller.cpp b/src/Collision/CollisionMoller.cpp
index 2fdd8b5ae7a162855b0cd154bba166831f0c9dcf..aab4cc1ebbd6564ce77b67a2622bf3cf996ffd06 100644
--- a/src/Collision/CollisionMoller.cpp
+++ b/src/Collision/CollisionMoller.cpp
@@ -28,22 +28,22 @@
#include "External/moller.h"
#include "External/moller2.h"
-bool smCollisionMoller::tri2tri( smVec3d &tri1Point1,
- smVec3d &tri1Point2,
- smVec3d &tri1Point3,
- smVec3d &tri2Point1,
- smVec3d &tri2Point2,
- smVec3d &tri2Point3,
+bool CollisionMoller::tri2tri( core::Vec3d &tri1Point1,
+ core::Vec3d &tri1Point2,
+ core::Vec3d &tri1Point3,
+ core::Vec3d &tri2Point1,
+ core::Vec3d &tri2Point2,
+ core::Vec3d &tri2Point3,
double &depth,
- smVec3d &contactPoint,
- smVec3d &normal)
+ core::Vec3d &contactPoint,
+ core::Vec3d &normal)
{
int coplanar;
- smVec3d intersectionPoint2;
+ core::Vec3d intersectionPoint2;
short tri1SinglePointIndex;
short tri2SinglePointIndex;
- smVec3d projPoint1;
- smVec3d projPoint2;
+ core::Vec3d projPoint1;
+ core::Vec3d projPoint2;
if ( tri_tri_intersect_with_isectline_penetrationDepth( tri1Point1.data(),
tri1Point2.data(),
tri1Point3.data(),
@@ -66,22 +66,22 @@ bool smCollisionMoller::tri2tri( smVec3d &tri1Point1,
return false;
}
-bool smCollisionMoller::tri2tri( smVec3d &p_tri1Point1,
- smVec3d &p_tri1Point2,
- smVec3d &p_tri1Point3,
- smVec3d &p_tri2Point1,
- smVec3d &p_tri2Point2,
- smVec3d &p_tri2Point3,
+bool CollisionMoller::tri2tri( core::Vec3d &p_tri1Point1,
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_tri2Point1,
+ core::Vec3d &p_tri2Point2,
+ core::Vec3d &p_tri2Point3,
int &coplanar,
- smVec3d &p_intersectionPoint1,
- smVec3d &p_intersectionPoint2,
+ core::Vec3d &p_intersectionPoint1,
+ core::Vec3d &p_intersectionPoint2,
short &p_tri1SinglePointIndex,
short &p_tri2SinglePointIndex,
- smVec3d &p_projPoint1,
- smVec3d &p_projPoint2 )
+ core::Vec3d &p_projPoint1,
+ core::Vec3d &p_projPoint2 )
{
double depth;
- smVec3d normal;
+ core::Vec3d normal;
if ( tri_tri_intersect_with_isectline_penetrationDepth( p_tri1Point1.data(),
p_tri1Point2.data(),
p_tri1Point3.data(),
@@ -101,14 +101,14 @@ bool smCollisionMoller::tri2tri( smVec3d &p_tri1Point1,
return false;
}
-bool smCollisionMoller::tri2tri( smVec3d &p_tri1Point1, smVec3d &p_tri1Point2, smVec3d &p_tri1Point3, smVec3d &p_tri2Point1, smVec3d &p_tri2Point2, smVec3d &p_tri2Point3 )
+bool CollisionMoller::tri2tri( core::Vec3d &p_tri1Point1, core::Vec3d &p_tri1Point2, core::Vec3d &p_tri1Point3, core::Vec3d &p_tri2Point1, core::Vec3d &p_tri2Point2, core::Vec3d &p_tri2Point3 )
{
return ( tri_tri_intersect( p_tri1Point1.data(), p_tri1Point2.data(),
p_tri1Point3.data(), p_tri2Point1.data(),
p_tri2Point2.data(), p_tri2Point3.data() ) == 1 ? true : false );
}
-bool smCollisionMoller::checkOverlapAABBAABB( smAABB &aabbA, smAABB &aabbB, smAABB &result )
+bool CollisionMoller::checkOverlapAABBAABB( AABB &aabbA, AABB &aabbB, AABB &result )
{
if ( aabbA.aabbMin[0] > aabbB.aabbMax[0] ||
@@ -133,11 +133,11 @@ bool smCollisionMoller::checkOverlapAABBAABB( smAABB &aabbA, smAABB &aabbB, smAA
}
}
-bool smCollisionMoller::checkOverlapAABBAABB( const smAABB &aabbA, const smAABB &aabbB )
+bool CollisionMoller::checkOverlapAABBAABB( const AABB &aabbA, const AABB &aabbB )
{
- const smVec3d &min = aabbA.getMin();
- const smVec3d &max = aabbA.getMax();
+ const core::Vec3d &min = aabbA.getMin();
+ const core::Vec3d &max = aabbA.getMax();
if ( min[0] > aabbB.aabbMax[0] ||
max[0] < aabbB.aabbMin[0] ||
@@ -154,7 +154,7 @@ bool smCollisionMoller::checkOverlapAABBAABB( const smAABB &aabbA, const smAABB
}
}
-bool smCollisionMoller::checkOverlapAABBAABB( smAABB &aabbA, smVec3d &p_vertex )
+bool CollisionMoller::checkOverlapAABBAABB( AABB &aabbA, core::Vec3d &p_vertex )
{
if ( aabbA.aabbMin[0] <= p_vertex[0] && aabbA.aabbMax[0] >= p_vertex[0] &&
@@ -169,7 +169,7 @@ bool smCollisionMoller::checkOverlapAABBAABB( smAABB &aabbA, smVec3d &p_vertex )
}
}
-bool smCollisionMoller::checkAABBPoint( const smAABB &p_aabb, const smVec3d &p_v )
+bool CollisionMoller::checkAABBPoint( const AABB &p_aabb, const core::Vec3d &p_v )
{
if ( p_v[0] >= p_aabb.aabbMin[0] &&
p_v[1] >= p_aabb.aabbMin[1] &&
@@ -186,19 +186,19 @@ bool smCollisionMoller::checkAABBPoint( const smAABB &p_aabb, const smVec3d &p_v
}
}
-bool smCollisionMoller::checkLineTri( smVec3d &p_linePoint1, smVec3d &p_linePoint2, smVec3d &p_tri1Point1, smVec3d &p_tri1Point2, smVec3d &p_tri1Point3, smVec3d &p_interSection )
+bool CollisionMoller::checkLineTri( core::Vec3d &p_linePoint1, core::Vec3d &p_linePoint2, core::Vec3d &p_tri1Point1, core::Vec3d &p_tri1Point2, core::Vec3d &p_tri1Point3, core::Vec3d &p_interSection )
{
//First find that ray intersect the polygon or not
int i1, i2;
- smVec3d U, V;
+ core::Vec3d U, V;
double plane[4], P[3], u[3], v[3], alpha, beta;
//Now find the Normal vector
U = p_tri1Point2 - p_tri1Point1;
V = p_tri1Point3 - p_tri1Point1;
- smVec3d cProd;
+ core::Vec3d cProd;
cProd = U.cross( V );
cProd.normalize();
@@ -209,7 +209,7 @@ bool smCollisionMoller::checkLineTri( smVec3d &p_linePoint1, smVec3d &p_linePoin
//Now we got the plane equation and we can test whether our ray intersect or not
double d1, d2, d, t;
- smVec3d dir;
+ core::Vec3d dir;
d1 = p_linePoint1.dot( cProd ) + plane[3];
d2 = p_linePoint2.dot( cProd ) + plane[3];
@@ -283,12 +283,12 @@ bool smCollisionMoller::checkLineTri( smVec3d &p_linePoint1, smVec3d &p_linePoin
return false;
}
-bool smCollisionMoller::checkAABBTriangle( smAABB &p_aabb, smVec3d &v1, smVec3d &v2, smVec3d &v3 )
+bool CollisionMoller::checkAABBTriangle( AABB &p_aabb, core::Vec3d &v1, core::Vec3d &v2, core::Vec3d &v3 )
{
- smVec3d boxhalfsize;
- smVec3d boxCenter;
- smMatrix33d triverts;
+ core::Vec3d boxhalfsize;
+ core::Vec3d boxCenter;
+ Matrix33d triverts;
triverts << v1[0],v1[1],v1[2],
v2[0],v2[1],v2[2],
v3[0],v3[1],v3[2];
diff --git a/src/Collision/CollisionMoller.h b/src/Collision/CollisionMoller.h
index 0f7ead014204f0e94442e83435f4eb8850383905..b194dcb154f908acbed39c54979df408cf72e730 100644
--- a/src/Collision/CollisionMoller.h
+++ b/src/Collision/CollisionMoller.h
@@ -30,63 +30,63 @@
#include "Core/Vector.h"
/// \brief Collision utililites
-class smCollisionMoller
+class CollisionMoller
{
public:
/// \brief triangle and triangle collision retursn intersection and projection points
- static bool tri2tri(smVec3d &p_tri1Point1,
- smVec3d &p_tri1Point2,
- smVec3d &p_tri1Point3,
- smVec3d &p_tri2Point1,
- smVec3d &p_tri2Point2,
- smVec3d &p_tri2Point3,
+ static bool tri2tri(core::Vec3d &p_tri1Point1,
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_tri2Point1,
+ core::Vec3d &p_tri2Point2,
+ core::Vec3d &p_tri2Point3,
int &coplanar,
- smVec3d &p_intersectionPoint1,
- smVec3d &p_intersectionPoint2,
+ core::Vec3d &p_intersectionPoint1,
+ core::Vec3d &p_intersectionPoint2,
short &p_tri1SinglePointIndex,
short &p_tri2SinglePointIndex,
- smVec3d &p_projPoint1,
- smVec3d &p_projPoint2);
+ core::Vec3d &p_projPoint1,
+ core::Vec3d &p_projPoint2);
- static bool tri2tri( smVec3d &p_tri1Point1,
- smVec3d &p_tri1Point2,
- smVec3d &p_tri1Point3,
- smVec3d &p_tri2Point1,
- smVec3d &p_tri2Point2,
- smVec3d &p_tri2Point3,
+ static bool tri2tri( core::Vec3d &p_tri1Point1,
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_tri2Point1,
+ core::Vec3d &p_tri2Point2,
+ core::Vec3d &p_tri2Point3,
double &depth,
- smVec3d &contactPoint,
- smVec3d &normal);
+ core::Vec3d &contactPoint,
+ core::Vec3d &normal);
/// \brief checks if the two triangles intersect
- static bool tri2tri(smVec3d &p_tri1Point1,
- smVec3d &p_tri1Point2,
- smVec3d &p_tri1Point3,
- smVec3d &p_tri2Point1,
- smVec3d &p_tri2Point2,
- smVec3d &p_tri2Point3);
+ static bool tri2tri(core::Vec3d &p_tri1Point1,
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_tri2Point1,
+ core::Vec3d &p_tri2Point2,
+ core::Vec3d &p_tri2Point3);
/// \brief check if the two AABB overlap returns encapsulating AABB of two
- static bool checkOverlapAABBAABB(smAABB &aabbA, smAABB &aabbB, smAABB &result);
+ static bool checkOverlapAABBAABB(AABB &aabbA, AABB &aabbB, AABB &result);
/// \brief check the AABBs overlap. returns true if they intersect
- static bool checkOverlapAABBAABB(const smAABB &aabbA, const smAABB &aabbB);
+ static bool checkOverlapAABBAABB(const AABB &aabbA, const AABB &aabbB);
/// \brief check if the point p_vertex is inside the AABB
- static inline bool checkOverlapAABBAABB(smAABB &aabbA, smVec3d &p_vertex);
+ static inline bool checkOverlapAABBAABB(AABB &aabbA, core::Vec3d &p_vertex);
/// \brief checks if the line intersects the tirangle. returns if it is true. the intersection is returned in p_interSection
- static bool checkLineTri(smVec3d &p_linePoint1,
- smVec3d &p_linePoint2,
- smVec3d &p_tri1Point1,
- smVec3d &p_tri1Point2,
- smVec3d &p_tri1Point3,
- smVec3d &p_interSection);
+ static bool checkLineTri(core::Vec3d &p_linePoint1,
+ core::Vec3d &p_linePoint2,
+ core::Vec3d &p_tri1Point1,
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_interSection);
/// \brief checks if the triangles points are within the AABB
- static bool checkAABBTriangle(smAABB &p_aabb, smVec3d &v1, smVec3d &v2, smVec3d &v3);
+ static bool checkAABBTriangle(AABB &p_aabb, core::Vec3d &v1, core::Vec3d &v2, core::Vec3d &v3);
- static bool checkAABBPoint(const smAABB &p_aabb, const smVec3d &p_v);
+ static bool checkAABBPoint(const AABB &p_aabb, const core::Vec3d &p_v);
};
#endif // SM_COLLISIONMOLLER_H
diff --git a/src/Collision/CollisionUtilities.cpp b/src/Collision/CollisionUtilities.cpp
index 572da30cb85ac98197b24ce701fef110cb6bd69d..051960723b90899f010eeb1ca9bea15b4ab5ae1c 100644
--- a/src/Collision/CollisionUtilities.cpp
+++ b/src/Collision/CollisionUtilities.cpp
@@ -23,11 +23,11 @@
#include "CollisionUtilities.h"
-int intersect3D_RayTriangleWithBarycentric( smVec3d P0, smVec3d P1, smVec3d V0, smVec3d V1, smVec3d V2, smVec3d *I, float &p_baryU, float &p_baryV, float &p_baryW, bool considerFrontFaceOnly )
+int intersect3D_RayTriangleWithBarycentric( core::Vec3d P0, core::Vec3d P1, core::Vec3d V0, core::Vec3d V1, core::Vec3d V2, core::Vec3d *I, float &p_baryU, float &p_baryV, float &p_baryW, bool considerFrontFaceOnly )
{
- smVec3d u, v, n; // triangle vectors
- smVec3d dir, w0, w; // ray vectors
+ core::Vec3d u, v, n; // triangle vectors
+ core::Vec3d dir, w0, w; // ray vectors
float r, a, b; // params to calc ray-plane intersect
// get triangle edge vectors and plane normal
diff --git a/src/Collision/CollisionUtilities.h b/src/Collision/CollisionUtilities.h
index bdb4ace124deb1cde374c8ee8e94e2f38d9b5bb8..aa1b05ed0b0a60bb98026bc095955b8fc67bc725 100644
--- a/src/Collision/CollisionUtilities.h
+++ b/src/Collision/CollisionUtilities.h
@@ -28,8 +28,8 @@
#include "Core/Vector.h"
/// \brief If the point is in the triangle, it will also send the barycentric coord.
-int intersect3D_RayTriangleWithBarycentric(smVec3d P0, smVec3d P1, smVec3d V0,
- smVec3d V1, smVec3d V2, smVec3d *I,
+int intersect3D_RayTriangleWithBarycentric(core::Vec3d P0, core::Vec3d P1, core::Vec3d V0,
+ core::Vec3d V1, core::Vec3d V2, core::Vec3d *I,
float &p_baryU, float &p_baryV,
float &p_baryW,
bool considerFrontFaceOnly);
diff --git a/src/Collision/MeshCollisionModel.cpp b/src/Collision/MeshCollisionModel.cpp
index fbbf8d2619603e285d7e3a1b9cff6387e397608e..bc9264122374c623ca70fb4685c6875a1ca934b1 100644
--- a/src/Collision/MeshCollisionModel.cpp
+++ b/src/Collision/MeshCollisionModel.cpp
@@ -23,38 +23,38 @@
#include "MeshCollisionModel.h"
-smMeshCollisionModel::smMeshCollisionModel()
+MeshCollisionModel::MeshCollisionModel()
{
}
-smMeshCollisionModel::~smMeshCollisionModel()
+MeshCollisionModel::~MeshCollisionModel()
{
}
-void smMeshCollisionModel::setMesh(std::shared_ptr<smMesh> modelMesh)
+void MeshCollisionModel::setMesh(std::shared_ptr<smMesh> modelMesh)
{
this->setModelMesh(modelMesh);
this->aabbTree.reset();
this->initAABBTree(1);
}
-void smMeshCollisionModel::loadTriangleMesh(const std::string& meshName, const smMeshFileType &type)
+void MeshCollisionModel::loadTriangleMesh(const std::string& meshName, const smMeshFileType &type)
{
this->load(meshName,type);
this->initAABBTree(1);
}
-std::shared_ptr< smMeshCollisionModel::AABBTreeType > smMeshCollisionModel::getAABBTree()
+std::shared_ptr< MeshCollisionModel::AABBTreeType > MeshCollisionModel::getAABBTree()
{
return this->aabbTree;
}
-void smMeshCollisionModel::setAABBTree(std::shared_ptr<smMeshCollisionModel::AABBTreeType> modelAabbTree)
+void MeshCollisionModel::setAABBTree(std::shared_ptr<MeshCollisionModel::AABBTreeType> modelAabbTree)
{
this->aabbTree.reset();
this->aabbTree = modelAabbTree;
}
-void smMeshCollisionModel::initAABBTree(const int& numLevels)
+void MeshCollisionModel::initAABBTree(const int& numLevels)
{
this->aabbTree = std::make_shared<AABBTreeType>(std::static_pointer_cast<smSurfaceMesh>(this->mesh), numLevels);
this->aabbTree->initStructure();
diff --git a/src/Collision/MeshCollisionModel.h b/src/Collision/MeshCollisionModel.h
index 3e0b5d742c6d21bd9b88889da6872b844b064c8b..bc7e4b529b866d5ea42dbd86884b2d34e070e677 100644
--- a/src/Collision/MeshCollisionModel.h
+++ b/src/Collision/MeshCollisionModel.h
@@ -42,18 +42,18 @@
/// This class facilitates collision detection between a mesh and another
/// model.
///
-/// @see smMeshToMeshCollision
+/// @see MeshToMeshCollision
///
-class smMeshCollisionModel : public smMeshModel
+class MeshCollisionModel : public smMeshModel
{
public:
- using AABBNodeType = smOctreeCell;
- using AABBTreeType = smSurfaceTree<AABBNodeType>;
+ using AABBNodeType = OctreeCell;
+ using AABBTreeType = SurfaceTree<AABBNodeType>;
using NodePairType = std::pair<std::shared_ptr<AABBNodeType>,std::shared_ptr<AABBNodeType>>;
public:
- smMeshCollisionModel();
- ~smMeshCollisionModel();
+ MeshCollisionModel();
+ ~MeshCollisionModel();
///
/// @brief Set internal mesh data structure
diff --git a/src/Collision/MeshToMeshCollision.cpp b/src/Collision/MeshToMeshCollision.cpp
index 13811b2ad782180caf85ab816fbc35a182f091ed..f7f0db09e4edf2c436ca5bee3ff3be21420bfd8c 100644
--- a/src/Collision/MeshToMeshCollision.cpp
+++ b/src/Collision/MeshToMeshCollision.cpp
@@ -31,17 +31,17 @@
// STL includes
#include <vector>
-void smMeshToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair> pairs)
+void MeshToMeshCollision::doComputeCollision(std::shared_ptr<CollisionPair> pairs)
{
- auto meshA = std::static_pointer_cast<smMeshCollisionModel>(pairs->getFirst());
- auto meshB = std::static_pointer_cast<smMeshCollisionModel>(pairs->getSecond());
+ auto meshA = std::static_pointer_cast<MeshCollisionModel>(pairs->getFirst());
+ auto meshB = std::static_pointer_cast<MeshCollisionModel>(pairs->getSecond());
- std::vector<smMeshCollisionModel::NodePairType>
+ std::vector<MeshCollisionModel::NodePairType>
intersectionNodes = meshA->getAABBTree()->getIntersectingNodes(meshB->getAABBTree());
double depth;
- smVec3d normal;
- smVec3d contactPoint;
+ core::Vec3d normal;
+ core::Vec3d contactPoint;
for(auto & intersection : intersectionNodes)
{
auto nodeA = intersection.first;
@@ -55,7 +55,7 @@ void smMeshToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair>
for(const auto & i : triangleListA)
{
- const smVec3d& normalA = meshA->getNormal(i);
+ const core::Vec3d& normalA = meshA->getNormal(i);
if(normalA.isZero())
{
continue;
@@ -64,7 +64,7 @@ void smMeshToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair>
auto verticesA = meshA->getTrianglePositions(i);
for(auto & j : triangleListB)
{
- const smVec3d& normalB = meshB->getNormal(j);
+ const core::Vec3d& normalB = meshB->getNormal(j);
if(normalB.isZero())
{
continue;
@@ -73,7 +73,7 @@ void smMeshToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair>
auto verticesB = meshB->getTrianglePositions(j);
// Chech for intersection
- if(smCollisionMoller::tri2tri(verticesA[0], verticesA[1], verticesA[2],
+ if(CollisionMoller::tri2tri(verticesA[0], verticesA[1], verticesA[2],
verticesB[0], verticesB[1], verticesB[2],
depth, contactPoint, normal)
)
diff --git a/src/Collision/MeshToMeshCollision.h b/src/Collision/MeshToMeshCollision.h
index a0aa6d00dcafce6f51ebdd306b5c2510633ca76e..253bbb5a11caa53460a33c20e047de3e1e2619c7 100644
--- a/src/Collision/MeshToMeshCollision.h
+++ b/src/Collision/MeshToMeshCollision.h
@@ -28,22 +28,22 @@
// SimMedTK includes
#include "Core/CollisionDetection.h"
-class smCollisionPair;
+class CollisionPair;
///
/// @brief COllision detection based on BVH queries and
/// triangle-triangle intersection tests.
///
-class smMeshToMeshCollision : public smCollisionDetection
+class MeshToMeshCollision : public CollisionDetection
{
public:
- smMeshToMeshCollision() {}
- virtual ~smMeshToMeshCollision() {}
+ MeshToMeshCollision() {}
+ virtual ~MeshToMeshCollision() {}
- smMeshToMeshCollision(const smMeshToMeshCollision &) = delete;
+ MeshToMeshCollision(const MeshToMeshCollision &) = delete;
private:
- virtual void doComputeCollision(std::shared_ptr<smCollisionPair> pairs) override;
+ virtual void doComputeCollision(std::shared_ptr<CollisionPair> pairs) override;
};
diff --git a/src/Collision/OctreeCell.cpp b/src/Collision/OctreeCell.cpp
index ecd1b29bc0ee82a914ee429d63558e19a18ad6a6..bd8d28566db5e9572fe725a8bd604590b900d939 100644
--- a/src/Collision/OctreeCell.cpp
+++ b/src/Collision/OctreeCell.cpp
@@ -29,97 +29,97 @@
// SimMedTK includes
#include "Collision/CollisionMoller.h"
-smOctreeCell::smOctreeCell() : BaseType()
+OctreeCell::OctreeCell() : BaseType()
{
}
-smOctreeCell::~smOctreeCell()
+OctreeCell::~OctreeCell()
{
}
-smVec3d &smOctreeCell::getCenter()
+core::Vec3d &OctreeCell::getCenter()
{
return cube.center;
}
-const smVec3d &smOctreeCell::getCenter() const
+const core::Vec3d &OctreeCell::getCenter() const
{
return cube.center;
}
-void smOctreeCell::setCenter( const smVec3d ¢er )
+void OctreeCell::setCenter( const core::Vec3d ¢er )
{
cube.center = center;
}
-double &smOctreeCell::getLength()
+double &OctreeCell::getLength()
{
return cube.sideLength;
}
-const double &smOctreeCell::getLength() const
+const double &OctreeCell::getLength() const
{
return cube.sideLength;
}
-void smOctreeCell::setLength( const double length )
+void OctreeCell::setLength( const double length )
{
cube.sideLength = length;
}
-void smOctreeCell::copyShape( const smOctreeCell &cell )
+void OctreeCell::copyShape( const OctreeCell &cell )
{
cube = cell.cube;
}
-void smOctreeCell::expand( const double expandScale )
+void OctreeCell::expand( const double expandScale )
{
cube.expand( expandScale );
}
-bool smOctreeCell::isCollidedWithTri( smVec3d &v0, smVec3d &v1, smVec3d &v2 )
+bool OctreeCell::isCollidedWithTri( core::Vec3d &v0, core::Vec3d &v1, core::Vec3d &v2 )
{
- smAABB tempAABB;
+ AABB tempAABB;
tempAABB.aabbMin = cube.leftMinCorner();
tempAABB.aabbMax = cube.rightMaxCorner();
- return smCollisionMoller::checkAABBTriangle( tempAABB, v0, v1, v2 );
+ return CollisionMoller::checkAABBTriangle( tempAABB, v0, v1, v2 );
}
-bool smOctreeCell::isCollidedWithPoint()
+bool OctreeCell::isCollidedWithPoint()
{
- std::cerr << "Error::smOctreeCell::isCollidedWithPoint(): Function not implemented." << std::endl;
+ std::cerr << "Error::OctreeCell::isCollidedWithPoint(): Function not implemented." << std::endl;
return 0;
}
-void smOctreeCell::subDivide( const int divisionPerAxis,
- std::array<smOctreeCell, smOctreeCell::numberOfSubdivisions> &cells )
+void OctreeCell::subDivide( const int divisionPerAxis,
+ std::array<OctreeCell, OctreeCell::numberOfSubdivisions> &cells )
{
size_t totalCubes = divisionPerAxis * divisionPerAxis * divisionPerAxis;
assert( cells.size() == totalCubes );
- std::vector<smCube> cubes( smOctreeCell::numberOfSubdivisions );
+ std::vector<Cube> cubes( OctreeCell::numberOfSubdivisions );
cube.subDivide( divisionPerAxis, cubes.data() );
- for ( size_t i = 0; i < smOctreeCell::numberOfSubdivisions; i++ )
+ for ( size_t i = 0; i < OctreeCell::numberOfSubdivisions; i++ )
{
cells[i].cube = cubes[i];
}
}
-const smCube &smOctreeCell::getCube() const
+const Cube &OctreeCell::getCube() const
{
return cube;
}
-smCube &smOctreeCell::getCube()
+Cube &OctreeCell::getCube()
{
return cube;
}
-void smOctreeCell::setCube(const smCube &otherCube)
+void OctreeCell::setCube(const Cube &otherCube)
{
this->cube.center = otherCube.center;
this->cube.sideLength = otherCube.sideLength;
diff --git a/src/Collision/OctreeCell.h b/src/Collision/OctreeCell.h
index 6a409423c8a00be781f484a98623f6ff7967e4b0..7e22ec0c9eebc2133e997e18427d75c27dd31bac 100644
--- a/src/Collision/OctreeCell.h
+++ b/src/Collision/OctreeCell.h
@@ -33,35 +33,35 @@
#include <memory>
/// \brief cell of an octree
-class smOctreeCell : public smSurfaceTreeCell<smOctreeCell>
+class OctreeCell : public SurfaceTreeCell<OctreeCell>
{
protected:
- using BaseType = smSurfaceTreeCell<smOctreeCell>;
- using SelfType = smOctreeCell;
+ using BaseType = SurfaceTreeCell<OctreeCell>;
+ using SelfType = OctreeCell;
public:
- smOctreeCell();
- ~smOctreeCell();
+ OctreeCell();
+ ~OctreeCell();
enum { numberOfSubdivisions = 8 };
/// \brief get a constant reference to the cell primitive
- const smCube &getCube() const;
+ const Cube &getCube() const;
/// \brief get a reference to the cell primitive
- smCube &getCube();
+ Cube &getCube();
/// \brief set the primitive
- void setCube(const smCube &other);
+ void setCube(const Cube &other);
/// \brief get the center of the octree cell
- smVec3d &getCenter();
+ core::Vec3d &getCenter();
/// \brief get constant reference to the center of the octree cell
- const smVec3d &getCenter() const;
+ const core::Vec3d &getCenter() const;
/// \brief set the center of the octree cell
- void setCenter ( const smVec3d ¢er );
+ void setCenter ( const core::Vec3d ¢er );
/// \brief get reference to the side length of the octree cell
double &getLength ();
@@ -70,7 +70,7 @@ public:
const double &getLength() const;
/// \brief set the octree cell
- void copyShape ( const smOctreeCell &cell );
+ void copyShape ( const OctreeCell &cell );
/// \brief !! expand the cell of the octree structure
void expand ( const double expandScale );
@@ -79,26 +79,26 @@ public:
void setLength ( const double length );
/// \brief check if a triangle is intersecting the octree cell
- bool isCollidedWithTri ( smVec3d &v0, smVec3d &v1, smVec3d &v2 );
+ bool isCollidedWithTri ( core::Vec3d &v0, core::Vec3d &v1, core::Vec3d &v2 );
/// \brief check if a point lies inside an octree cell
bool isCollidedWithPoint ();
/// \brief subdivide the cells of octree cells
void subDivide ( const int divisionPerAxis,
- std::array<smOctreeCell,numberOfSubdivisions> &cells );
+ std::array<OctreeCell,numberOfSubdivisions> &cells );
- const smAABB &getAabb() const
+ const AABB &getAabb() const
{
return aabb;
}
- void setAabb(const smAABB &newAabb)
+ void setAabb(const AABB &newAabb)
{
this->aabb = newAabb;
}
- void getIntersections(const smAABB &aabb, std::vector<size_t> &triangles)
+ void getIntersections(const AABB &aabb, std::vector<size_t> &triangles)
{
for(auto &i : data)
{
@@ -109,33 +109,33 @@ public:
}
}
- inline void addTriangleData(const smAABB &aabb, size_t index)
+ inline void addTriangleData(const AABB &aabb, size_t index)
{
return data.emplace_back(aabb,index);
}
- std::shared_ptr<smOctreeCell> getChildNode(size_t i)
+ std::shared_ptr<OctreeCell> getChildNode(size_t i)
{
return childNodes[i];
}
- const std::array<std::shared_ptr<smOctreeCell>,numberOfSubdivisions>
+ const std::array<std::shared_ptr<OctreeCell>,numberOfSubdivisions>
&getChildNodes() const
{
return childNodes;
}
- void setChildNode(size_t i, std::shared_ptr<smOctreeCell> node)
+ void setChildNode(size_t i, std::shared_ptr<OctreeCell> node)
{
childNodes[i] = node;
}
- std::shared_ptr<smOctreeCell> getParentNode()
+ std::shared_ptr<OctreeCell> getParentNode()
{
return parentNode;
}
- void setParentNode(std::shared_ptr<smOctreeCell> parent)
+ void setParentNode(std::shared_ptr<OctreeCell> parent)
{
parentNode = parent;
}
@@ -162,12 +162,12 @@ public:
}
private:
- smCube cube; ///< cube
- smAABB aabb;
+ Cube cube; ///< cube
+ AABB aabb;
- std::array<std::shared_ptr<smOctreeCell>,numberOfSubdivisions> childNodes;
- std::shared_ptr<smOctreeCell> parentNode;
- std::vector<std::pair<smAABB,size_t>> data;
+ std::array<std::shared_ptr<OctreeCell>,numberOfSubdivisions> childNodes;
+ std::shared_ptr<OctreeCell> parentNode;
+ std::vector<std::pair<AABB,size_t>> data;
};
diff --git a/src/Collision/PlaneCollisionModel.cpp b/src/Collision/PlaneCollisionModel.cpp
index 625beb3fde5225f8f48d65aaa49e686d7266e8fb..84b74b58364c86272b47715c334fee753acacad4 100644
--- a/src/Collision/PlaneCollisionModel.cpp
+++ b/src/Collision/PlaneCollisionModel.cpp
@@ -24,10 +24,10 @@
#include "PlaneCollisionModel.h"
-smPlaneCollisionModel::smPlaneCollisionModel(const smVec3d& p, const smVec3d& n)
+PlaneCollisionModel::PlaneCollisionModel(const core::Vec3d& p, const core::Vec3d& n)
: smPlaneModel(p, n)
{
}
-smPlaneCollisionModel::~smPlaneCollisionModel() {}
+PlaneCollisionModel::~PlaneCollisionModel() {}
diff --git a/src/Collision/PlaneCollisionModel.h b/src/Collision/PlaneCollisionModel.h
index d4ab897f6745c1deb597ab3eb543a741de1f04e3..1494bc87391ea197fead35bea971841a4921deda 100644
--- a/src/Collision/PlaneCollisionModel.h
+++ b/src/Collision/PlaneCollisionModel.h
@@ -24,19 +24,14 @@
#ifndef SMPLANECOLLISIONMODEL_H
#define SMPLANECOLLISIONMODEL_H
-#include <memory>
-
-// Eigen include
-#include<Eigen/Geometry>
-
#include "Geometry/PlaneModel.h"
-class smPlaneCollisionModel : public smPlaneModel
+class PlaneCollisionModel : public smPlaneModel
{
public:
- smPlaneCollisionModel(const smVec3d &p, const smVec3d &n);
+ PlaneCollisionModel(const core::Vec3d &p, const core::Vec3d &n);
- ~smPlaneCollisionModel();
+ ~PlaneCollisionModel();
};
diff --git a/src/Collision/PlaneToMeshCollision.cpp b/src/Collision/PlaneToMeshCollision.cpp
index 841854379ecc38bd5d8b920a7a8ff86d15502251..b6068fc93cde513b09ba9e371a886b36243e41d4 100644
--- a/src/Collision/PlaneToMeshCollision.cpp
+++ b/src/Collision/PlaneToMeshCollision.cpp
@@ -32,10 +32,10 @@
// STL includes
#include <limits>
-void smPlaneToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair> pair)
+void PlaneToMeshCollision::doComputeCollision(std::shared_ptr<CollisionPair> pair)
{
- auto mesh = std::static_pointer_cast<smMeshCollisionModel>(pair->getFirst());
- auto plane = std::static_pointer_cast<smPlaneCollisionModel>(pair->getSecond());
+ auto mesh = std::static_pointer_cast<MeshCollisionModel>(pair->getFirst());
+ auto plane = std::static_pointer_cast<PlaneCollisionModel>(pair->getSecond());
if (!mesh || !plane)
{
@@ -43,10 +43,10 @@ void smPlaneToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair>
}
double d;
- smVec3d planeNormal = plane->getPlaneModel()->getUnitNormal();
- smVec3d planePos = plane->getPlaneModel()->getPoint();
+ core::Vec3d planeNormal = plane->getPlaneModel()->getUnitNormal();
+ core::Vec3d planePos = plane->getPlaneModel()->getPoint();
- smVec3d vert;
+ core::Vec3d vert;
pair->clearContacts();
for (int i = 0; i < mesh->getVertices().size(); i++)//const auto& vertex : mesh->getVertices()
{
diff --git a/src/Collision/PlaneToMeshCollision.h b/src/Collision/PlaneToMeshCollision.h
index 641b1a56283fb86f597bcf0589abdd99d6b4458b..ec2961b6036e1ac6e52a2a23181ef0b836c5570e 100644
--- a/src/Collision/PlaneToMeshCollision.h
+++ b/src/Collision/PlaneToMeshCollision.h
@@ -28,21 +28,21 @@
// SimMedTK includes
#include "Core/CollisionDetection.h"
-class smCollisionPair;
+class CollisionPair;
///
/// @brief Brute force collision detection between a mesh and a static plane
///
-class smPlaneToMeshCollision : public smCollisionDetection
+class PlaneToMeshCollision : public CollisionDetection
{
public:
- smPlaneToMeshCollision() {}
- virtual ~smPlaneToMeshCollision() {}
+ PlaneToMeshCollision() {}
+ virtual ~PlaneToMeshCollision() {}
- smPlaneToMeshCollision(const smPlaneToMeshCollision &) = delete;
+ PlaneToMeshCollision(const PlaneToMeshCollision &) = delete;
private:
- virtual void doComputeCollision(std::shared_ptr<smCollisionPair> pairs) override;
+ virtual void doComputeCollision(std::shared_ptr<CollisionPair> pairs) override;
};
diff --git a/src/Collision/SpatialHashCollision.cpp b/src/Collision/SpatialHashCollision.cpp
index 0f0bdbfd04fc6ee51aeb960792243baee6ceaea7..035015dbcde586ed7099aa83f94215eec41b9646 100644
--- a/src/Collision/SpatialHashCollision.cpp
+++ b/src/Collision/SpatialHashCollision.cpp
@@ -34,7 +34,7 @@
#include "Core/SDK.h"
-struct smSpatialHashCollision::HashFunction
+struct SpatialHashCollision::HashFunction
{
HashFunction(unsigned int hashConst1 = 73856093,
unsigned int hashConst2 = 19349663,
@@ -50,7 +50,7 @@ struct smSpatialHashCollision::HashFunction
unsigned int const3;
};
-smSpatialHashCollision::smSpatialHashCollision(int hashTableSize,
+SpatialHashCollision::SpatialHashCollision(int hashTableSize,
float _cellSizeX,
float _cellSizeY,
float _cellSizeZ):
@@ -66,44 +66,44 @@ smSpatialHashCollision::smSpatialHashCollision(int hashTableSize,
cellSizeZ = _cellSizeZ;
}
-smSpatialHashCollision::~smSpatialHashCollision()
+SpatialHashCollision::~SpatialHashCollision()
{
}
-void smSpatialHashCollision::addCollisionModel(std::shared_ptr<SurfaceTreeType> CollMode)
+void SpatialHashCollision::addCollisionModel(std::shared_ptr<SurfaceTreeType> CollMode)
{
colModel.push_back(CollMode);
}
-void smSpatialHashCollision::addMesh(std::shared_ptr<smMesh> mesh)
+void SpatialHashCollision::addMesh(std::shared_ptr<smMesh> mesh)
{
meshes.push_back(mesh);
mesh->allocateAABBTris();
}
-void smSpatialHashCollision::addMesh(std::shared_ptr<smLineMesh> mesh)
+void SpatialHashCollision::addMesh(std::shared_ptr<smLineMesh> mesh)
{
lineMeshes.push_back(mesh);
}
-void smSpatialHashCollision::removeMesh(std::shared_ptr<smMesh> mesh)
+void SpatialHashCollision::removeMesh(std::shared_ptr<smMesh> mesh)
{
auto it = std::find(meshes.begin(),meshes.end(),mesh);
if(it != meshes.end())
meshes.erase(it);
}
-bool smSpatialHashCollision::findCandidatePoints(std::shared_ptr<smMesh> mesh,
- std::shared_ptr<smSpatialHashCollision::SurfaceTreeType> colModel)
+bool SpatialHashCollision::findCandidatePoints(std::shared_ptr<smMesh> mesh,
+ std::shared_ptr<SpatialHashCollision::SurfaceTreeType> colModel)
{
- smAABB tempAABB;
+ AABB tempAABB;
tempAABB.aabbMin = colModel->root->getCube().leftMinCorner();
tempAABB.aabbMax = colModel->root->getCube().rightMaxCorner();
bool found = false;
for (int i = 0; i < mesh->nbrVertices; i++)
{
- if (smCollisionMoller::checkAABBPoint(tempAABB, mesh->vertices[i]))
+ if (CollisionMoller::checkAABBPoint(tempAABB, mesh->vertices[i]))
{
addPoint(mesh, i, cellsForModelPoints);
found = true;
@@ -112,11 +112,11 @@ bool smSpatialHashCollision::findCandidatePoints(std::shared_ptr<smMesh> mesh,
return found;
}
-bool smSpatialHashCollision::findCandidateTris(std::shared_ptr<smMesh> meshA, std::shared_ptr<smMesh> meshB)
+bool SpatialHashCollision::findCandidateTris(std::shared_ptr<smMesh> meshA, std::shared_ptr<smMesh> meshB)
{
- smAABB aabboverlap;
+ AABB aabboverlap;
- if (smCollisionMoller::checkOverlapAABBAABB(meshA->aabb, meshB->aabb, aabboverlap) == false)
+ if (CollisionMoller::checkOverlapAABBAABB(meshA->aabb, meshB->aabb, aabboverlap) == false)
{
return false;
}
@@ -134,18 +134,18 @@ bool smSpatialHashCollision::findCandidateTris(std::shared_ptr<smMesh> meshA, st
return true;
}
-bool smSpatialHashCollision::findCandidateTrisLines(std::shared_ptr<smMesh> meshA, std::shared_ptr<smLineMesh> meshB)
+bool SpatialHashCollision::findCandidateTrisLines(std::shared_ptr<smMesh> meshA, std::shared_ptr<smLineMesh> meshB)
{
- smAABB aabboverlap;
+ AABB aabboverlap;
- if (smCollisionMoller::checkOverlapAABBAABB(meshA->aabb, meshB->aabb, aabboverlap) == false)
+ if (CollisionMoller::checkOverlapAABBAABB(meshA->aabb, meshB->aabb, aabboverlap) == false)
{
return false;
}
for (int i = 0; i < meshA->nbrTriangles; i++)
{
- if (smCollisionMoller::checkOverlapAABBAABB(aabboverlap, meshA->triAABBs[i]))
+ if (CollisionMoller::checkOverlapAABBAABB(aabboverlap, meshA->triAABBs[i]))
{
addTriangle(meshA, i, cellsForTri2Line);
}
@@ -153,7 +153,7 @@ bool smSpatialHashCollision::findCandidateTrisLines(std::shared_ptr<smMesh> mesh
for (int i = 0; i < meshB->nbrEdges; i++)
{
- if (smCollisionMoller::checkOverlapAABBAABB(aabboverlap, meshB->edgeAABBs[i]))
+ if (CollisionMoller::checkOverlapAABBAABB(aabboverlap, meshB->edgeAABBs[i]))
{
addLine(meshB, i, cellLines);
}
@@ -162,14 +162,14 @@ bool smSpatialHashCollision::findCandidateTrisLines(std::shared_ptr<smMesh> mesh
return true;
}
-void smSpatialHashCollision::computeCollisionTri2Tri()
+void SpatialHashCollision::computeCollisionTri2Tri()
{
- smHashIterator<smCellTriangle> iterator;
- smHashIterator<smCellTriangle> iterator1;
+ smHashIterator<CellTriangle> iterator;
+ smHashIterator<CellTriangle> iterator1;
- smCellTriangle triA;
- smCellTriangle triB;
- smVec3d proj1, proj2, inter1, inter2;
+ CellTriangle triA;
+ CellTriangle triB;
+ core::Vec3d proj1, proj2, inter1, inter2;
short point1, point2;
int coPlanar;
@@ -187,7 +187,7 @@ void smSpatialHashCollision::computeCollisionTri2Tri()
continue;
}
- if (smCollisionMoller::tri2tri(triA.vert[0],
+ if (CollisionMoller::tri2tri(triA.vert[0],
triA.vert[1],
triA.vert[2],
triB.vert[0],
@@ -212,13 +212,13 @@ void smSpatialHashCollision::computeCollisionTri2Tri()
}
///line to triangle collision
-void smSpatialHashCollision::computeCollisionLine2Tri()
+void SpatialHashCollision::computeCollisionLine2Tri()
{
smHashIterator<smCellLine > iteratorLine;
- smHashIterator<smCellTriangle > iteratorTri;
+ smHashIterator<CellTriangle > iteratorTri;
smCellLine line;
- smCellTriangle tri;
- smVec3d intersection;
+ CellTriangle tri;
+ core::Vec3d intersection;
while (cellLines.next(iteratorLine) && cellsForTri2Line.next(iteratorTri))
{
@@ -235,7 +235,7 @@ void smSpatialHashCollision::computeCollisionLine2Tri()
continue;
}
- if (smCollisionMoller::checkLineTri(line.vert[0],
+ if (CollisionMoller::checkLineTri(line.vert[0],
line.vert[1],
tri.vert[0],
tri.vert[1],
@@ -253,7 +253,7 @@ void smSpatialHashCollision::computeCollisionLine2Tri()
}
}
-void smSpatialHashCollision::computeCollisionModel2Points()
+void SpatialHashCollision::computeCollisionModel2Points()
{
smHashIterator<smCellModel > iteratorModel;
smHashIterator<smCellPoint > iteratorPoint;
@@ -285,7 +285,7 @@ void smSpatialHashCollision::computeCollisionModel2Points()
}
}
-void smSpatialHashCollision::computeHash(std::shared_ptr<smMesh> mesh, const std::vector<int> &triangleIndexes)
+void SpatialHashCollision::computeHash(std::shared_ptr<smMesh> mesh, const std::vector<int> &triangleIndexes)
{
for(auto&& i : triangleIndexes)
{
@@ -301,14 +301,14 @@ void smSpatialHashCollision::computeHash(std::shared_ptr<smMesh> mesh, const std
for (int iy = yStartIndex; iy <= yEndIndex; iy++)
for (int iz = zStartIndex; iz <= zEndIndex; iz++)
{
- cells.insert(smCellTriangle(i), hasher->getKey(cells.tableSize, ix, iy, iz));
+ cells.insert(CellTriangle(i), hasher->getKey(cells.tableSize, ix, iy, iz));
}
}
}
-void smSpatialHashCollision::addTriangle(std::shared_ptr<smMesh> mesh, int triangleId, smHash<smCellTriangle> &cells)
+void SpatialHashCollision::addTriangle(std::shared_ptr<smMesh> mesh, int triangleId, smHash<CellTriangle> &cells)
{
- smCellTriangle triangle;
+ CellTriangle triangle;
triangle.meshID = mesh->getUniqueId();
triangle.primID = triangleId;
@@ -332,7 +332,7 @@ void smSpatialHashCollision::addTriangle(std::shared_ptr<smMesh> mesh, int trian
}
}
-void smSpatialHashCollision::addLine(std::shared_ptr<smLineMesh> mesh,
+void SpatialHashCollision::addLine(std::shared_ptr<smLineMesh> mesh,
int edgeId, smHash<smCellLine> &cells)
{
smCellLine line;
@@ -357,7 +357,7 @@ void smSpatialHashCollision::addLine(std::shared_ptr<smLineMesh> mesh,
}
}
-void smSpatialHashCollision::addPoint(std::shared_ptr<smMesh> mesh, int vertId, smHash<smCellPoint> &cells)
+void SpatialHashCollision::addPoint(std::shared_ptr<smMesh> mesh, int vertId, smHash<smCellPoint> &cells)
{
smCellPoint cellPoint;
cellPoint.meshID = mesh->getUniqueId();
@@ -371,12 +371,12 @@ void smSpatialHashCollision::addPoint(std::shared_ptr<smMesh> mesh, int vertId,
cells.checkAndInsert(cellPoint, hasher->getKey(cells.tableSize, xStartIndex, yStartIndex, zStartIndex));
}
-void smSpatialHashCollision::addOctreeCell(std::shared_ptr<smSpatialHashCollision::SurfaceTreeType> colModel, smHash<smCellModel> &cells)
+void SpatialHashCollision::addOctreeCell(std::shared_ptr<SpatialHashCollision::SurfaceTreeType> colModel, smHash<smCellModel> &cells)
{
smCellModel cellModel;
- smAABB temp;
+ AABB temp;
- smSurfaceTreeIterator<smOctreeCell> iter = colModel->getLevelIterator();
+ SurfaceTreeIterator<OctreeCell> iter = colModel->getLevelIterator();
cellModel.meshID = colModel->getAttachedMeshID();
for (int i = iter.start(); i != iter.end(); ++i)
@@ -408,7 +408,7 @@ void smSpatialHashCollision::addOctreeCell(std::shared_ptr<smSpatialHashCollisio
}
}
-void smSpatialHashCollision::reset()
+void SpatialHashCollision::reset()
{
cells.clearAll();
cellLines.clearAll();
@@ -419,7 +419,7 @@ void smSpatialHashCollision::reset()
collidedModelPoints.clear();
collidedTriangles.clear();
}
-bool smSpatialHashCollision::findCandidates()
+bool SpatialHashCollision::findCandidates()
{
for(size_t i = 0; i < colModel.size(); i++)
for(size_t i = 0; i < meshes.size(); i++)
@@ -457,7 +457,7 @@ bool smSpatialHashCollision::findCandidates()
}
return 0;
}
-void smSpatialHashCollision::updateBVH()
+void SpatialHashCollision::updateBVH()
{
for(size_t i = 0; i < meshes.size(); i++)
{
@@ -469,11 +469,11 @@ void smSpatialHashCollision::updateBVH()
meshes[i]->upadateAABB();
}
}
-const std::vector< std::shared_ptr< smCollidedTriangles > >& smSpatialHashCollision::getCollidedTriangles() const
+const std::vector< std::shared_ptr< smCollidedTriangles > >& SpatialHashCollision::getCollidedTriangles() const
{
return collidedTriangles;
}
-std::vector< std::shared_ptr< smCollidedTriangles > >& smSpatialHashCollision::getCollidedTriangles()
+std::vector< std::shared_ptr< smCollidedTriangles > >& SpatialHashCollision::getCollidedTriangles()
{
return collidedTriangles;
}
diff --git a/src/Collision/SpatialHashCollision.h b/src/Collision/SpatialHashCollision.h
index c1db276fd1ef29e9f145bf5079e967fa91ceb3a7..31e4b57290ac4b1f277461dda6c8481f19fc7305 100644
--- a/src/Collision/SpatialHashCollision.h
+++ b/src/Collision/SpatialHashCollision.h
@@ -35,16 +35,16 @@
class smCellLine;
class smCellModel;
class smCellPoint;
-class smCellTriangle;
+class CellTriangle;
class smCollidedLineTris;
class smCollidedModelPoints;
class smCollidedTriangles;
class smLineMesh;
class smMesh;
-class smOctreeCell;
+class OctreeCell;
template<typename CellType>
-class smSurfaceTree;
+class SurfaceTree;
/// \brief
enum smCollisionSetting
@@ -55,21 +55,21 @@ enum smCollisionSetting
};
/// \brief spatial hash
-class smSpatialHashCollision: public smCollisionDetection
+class SpatialHashCollision: public CollisionDetection
{
public:
- using SurfaceTreeType = smSurfaceTree<smOctreeCell>;
+ using SurfaceTreeType = SurfaceTree<OctreeCell>;
public:
/// \brief !!
- smSpatialHashCollision(int hashTableSize,
+ SpatialHashCollision(int hashTableSize,
float cellSizeX,
float cellSizeY,
float cellSizeZ);
/// \brief destructor clear some memory
- ~smSpatialHashCollision();
+ ~SpatialHashCollision();
/// \brief !!
void addCollisionModel(std::shared_ptr<SurfaceTreeType> CollModel);
@@ -113,7 +113,7 @@ public:
protected:
/// \brief adds triangle to hash
- void addTriangle(std::shared_ptr<smMesh> mesh, int triangleId, smHash<smCellTriangle> &cells);
+ void addTriangle(std::shared_ptr<smMesh> mesh, int triangleId, smHash<CellTriangle> &cells);
/// \brief adds line to hash
void addLine(std::shared_ptr<smLineMesh> mesh, int edgeId, smHash<smCellLine> &cells);
@@ -130,7 +130,7 @@ protected:
void updateBVH();
private:
- void doComputeCollision(std::shared_ptr<smCollisionPair> /*pairs*/)
+ void doComputeCollision(std::shared_ptr<CollisionPair> /*pairs*/)
{
reset();
updateBVH();
@@ -145,9 +145,9 @@ private:
float cellSizeY; ///< cell spacing in y-direction
float cellSizeZ; ///< cell spacing in z-direction
- smHash<smCellTriangle> cells; // Candidate triangles
+ smHash<CellTriangle> cells; // Candidate triangles
smHash<smCellLine> cellLines; // Lines that stored in the scene.
- smHash<smCellTriangle> cellsForTri2Line; // Candidate triangles in the scene.
+ smHash<CellTriangle> cellsForTri2Line; // Candidate triangles in the scene.
smHash<smCellModel> cellsForModel; // Candidate cells for collision model
smHash<smCellPoint> cellsForModelPoints; // Candidate for Collision model to point
std::vector<std::shared_ptr<smMesh>> meshes; // Mesh models
diff --git a/src/Collision/SurfaceTree.h b/src/Collision/SurfaceTree.h
index 2e6d063c4194cb30674d56771dd9841d387c4e20..153833f98ed7b8cc881c1eb85332bc914ad73e3a 100644
--- a/src/Collision/SurfaceTree.h
+++ b/src/Collision/SurfaceTree.h
@@ -29,17 +29,17 @@
#include <array>
// SimMedTK includes
-#include "Core/CollisionModel.h"
+#include "Core/CollisionModelIterator.h"
#include "Collision/SurfaceTreeCell.h"
#include "Collision/CollisionMoller.h"
#include "Mesh/SurfaceMesh.h"
/// \brief !!
template<typename CellType>
-class smSurfaceTree : public smCoreClass
+class SurfaceTree : public CoreClass
{
protected:
- typedef smMatrix44d MatrixType;
+ typedef Matrix44d MatrixType;
protected:
std::shared_ptr<smSurfaceMesh> mesh; ///< surface mesh
@@ -54,10 +54,10 @@ protected:
public:
/// \brief constructor
- smSurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMesh, int maxLevels = 6);
+ SurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMesh, int maxLevels = 6);
/// \brief destructor
- ~smSurfaceTree();
+ ~SurfaceTree();
MatrixType transRot; ///< matrix for translation and rotation
int maxLevel; ///< max level of the tree
@@ -79,20 +79,20 @@ public:
/// \brief initialize the surface tree structure
virtual void initStructure();
- virtual smCollisionModelIterator<CellType> getLevelIterator(int level) ;
+ virtual CollisionModelIterator<CellType> getLevelIterator(int level) ;
- virtual smCollisionModelIterator<CellType> getLevelIterator() ;
+ virtual CollisionModelIterator<CellType> getLevelIterator() ;
/// \brief !!
- inline std::shared_ptr<smUnifiedId> getAttachedMeshID()
+ inline std::shared_ptr<UnifiedId> getAttachedMeshID()
{
return mesh->getUniqueId();
}
/// \brief !!
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
- /// \brief !! smSurfaceTree structure
+ /// \brief !! SurfaceTree structure
void updateStructure();
/// \brief !!
@@ -104,7 +104,7 @@ public:
}
std::vector<std::pair<std::shared_ptr<CellType>,std::shared_ptr<CellType>>>
- getIntersectingNodes(std::shared_ptr<smSurfaceTree<CellType>> otherTree)
+ getIntersectingNodes(std::shared_ptr<SurfaceTree<CellType>> otherTree)
{
std::vector<std::pair<std::shared_ptr<CellType>,std::shared_ptr<CellType>>> intersectingNodes;
getIntersectingNodes(root, otherTree->getRoot(),intersectingNodes);
diff --git a/src/Collision/SurfaceTree.hpp b/src/Collision/SurfaceTree.hpp
index 353fd425036909fa2f358a562ad91e92ec210e39..d9438bcbf77948c2694e5c6633e2e2a133ac9630 100644
--- a/src/Collision/SurfaceTree.hpp
+++ b/src/Collision/SurfaceTree.hpp
@@ -24,9 +24,6 @@
#ifndef SM_SMSURFACETREE_HPP
#define SM_SMSURFACETREE_HPP
-// STL includes
-#include <string>
-
// SimMedTK includes
#include "Rendering/Viewer.h"
#include "Collision/SurfaceTreeIterator.h"
@@ -35,9 +32,9 @@
/// \brief initialize the surface tree structure
template <typename CellType>
-void smSurfaceTree<CellType>::initStructure()
+void SurfaceTree<CellType>::initStructure()
{
- smVec3d center;
+ core::Vec3d center;
double edge;
std::vector<int> triangles;
@@ -62,13 +59,13 @@ void smSurfaceTree<CellType>::initStructure()
/// \brief destructor
template<typename CellType>
-smSurfaceTree<CellType>::~smSurfaceTree()
+SurfaceTree<CellType>::~SurfaceTree()
{
}
/// \brief
template<typename CellType>
-smSurfaceTree<CellType>::smSurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMesh, int maxLevels)
+SurfaceTree<CellType>::SurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMesh, int maxLevels)
{
mesh = surfaceMesh;
totalCells = 0;
@@ -79,7 +76,7 @@ smSurfaceTree<CellType>::smSurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMes
//compute the total cells
for (int i = 0; i < maxLevel; ++i)
{
- totalCells += smMath::pow(CellType::numberOfSubdivisions, i);
+ totalCells += std::pow(int(CellType::numberOfSubdivisions), i);
}
treeAllLevels.resize(totalCells);
@@ -91,7 +88,7 @@ smSurfaceTree<CellType>::smSurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMes
for (int i = 1; i < maxLevel; ++i)
{
- levelStartIndex[i][0] = levelStartIndex[i-1][0] + smMath::pow(CellType::numberOfSubdivisions, i-1);
+ levelStartIndex[i][0] = levelStartIndex[i-1][0] + std::pow(int(CellType::numberOfSubdivisions), i-1);
levelStartIndex[i-1][1] = levelStartIndex[i][0];
}
@@ -106,13 +103,13 @@ smSurfaceTree<CellType>::smSurfaceTree(std::shared_ptr<smSurfaceMesh> surfaceMes
mesh->allocateAABBTris();
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"SurfaceTreeRenderDelegate"));
}
/// \brief handle key press events
template<typename CellType>
-void smSurfaceTree<CellType>::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void SurfaceTree<CellType>::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
if(!this->isListening())
{
@@ -186,7 +183,7 @@ void smSurfaceTree<CellType>::handleEvent(std::shared_ptr<mstk::Event::smEvent>
/// \brief create the surface tree
template<typename CellType>
-bool smSurfaceTree<CellType>::createTree(std::shared_ptr<CellType> Node,
+bool SurfaceTree<CellType>::createTree(std::shared_ptr<CellType> Node,
const std::vector<int> &triangles,
int siblingIndex)
{
@@ -300,9 +297,9 @@ bool smSurfaceTree<CellType>::createTree(std::shared_ptr<CellType> Node,
/// \brief !!
template <typename CellType>
-smCollisionModelIterator<CellType> smSurfaceTree<CellType>::getLevelIterator(int level)
+CollisionModelIterator<CellType> SurfaceTree<CellType>::getLevelIterator(int level)
{
- smSurfaceTreeIterator<CellType> iter(this);
+ SurfaceTreeIterator<CellType> iter(this);
iter.startIndex = iter.currentIndex = this->levelStartIndex[level][0];
iter.endIndex = this->levelStartIndex[level][1];
iter.currentLevel = level;
@@ -311,9 +308,9 @@ smCollisionModelIterator<CellType> smSurfaceTree<CellType>::getLevelIterator(int
/// \brief !!
template <typename CellType>
-smCollisionModelIterator<CellType> smSurfaceTree<CellType>::getLevelIterator()
+CollisionModelIterator<CellType> SurfaceTree<CellType>::getLevelIterator()
{
- smSurfaceTreeIterator<CellType> iter(this);
+ SurfaceTreeIterator<CellType> iter(this);
iter.startIndex = iter.currentIndex = this->levelStartIndex[currentLevel][0];
iter.endIndex = this->levelStartIndex[currentLevel][1];
iter.currentLevel = currentLevel;
@@ -322,14 +319,14 @@ smCollisionModelIterator<CellType> smSurfaceTree<CellType>::getLevelIterator()
/// \brief update the surface tree
template <typename CellType>
-void smSurfaceTree<CellType>::updateStructure()
+void SurfaceTree<CellType>::updateStructure()
{
CellType *current;
for (int i = levelStartIndex[maxLevel-1][0]; i < levelStartIndex[maxLevel-1][1]; ++i)
{
current = &treeAllLevels[i];
- smVec3d tempCenter(0, 0, 0);
+ core::Vec3d tempCenter(0, 0, 0);
int counter = 0;
if (!current->isEmpty())
@@ -347,7 +344,7 @@ void smSurfaceTree<CellType>::updateStructure()
/// \brief !!
template <typename CellType>
-void smSurfaceTree<CellType>::translateRot()
+void SurfaceTree<CellType>::translateRot()
{
CellType *current;
CellType *initial;
diff --git a/src/Collision/SurfaceTreeCell.h b/src/Collision/SurfaceTreeCell.h
index fa9799e69eee0d2ab0d7851bf5dd8e087f0229c8..7dccd14440c9899a2682ec9d63837f0b7722a016 100644
--- a/src/Collision/SurfaceTreeCell.h
+++ b/src/Collision/SurfaceTreeCell.h
@@ -35,11 +35,11 @@
/// \brief contains the cell of the surface tree structure
template <typename Derived>
-class smSurfaceTreeCell
+class SurfaceTreeCell
{
public:
/// \brief constructor
- smSurfaceTreeCell()
+ SurfaceTreeCell()
{
empty = true;
isLeaf = false;
@@ -66,13 +66,13 @@ public:
}
/// \brief checks if the cell collided with a triangle primitive
- inline bool isCollidedWithTri(const smVec3d &v0, const smVec3d &v1, const smVec3d &v2)
+ inline bool isCollidedWithTri(const core::Vec3d &v0, const core::Vec3d &v1, const core::Vec3d &v2)
{
return derived()->isCollidedWithTri(v0,v1,v2);
}
/// \brief checks if the cell contains the point primitive
- inline bool isCollidedWithPoint(const smVec3d &point)
+ inline bool isCollidedWithPoint(const core::Vec3d &point)
{
return derived()->isCollidedWithPoint(point);
}
@@ -84,7 +84,7 @@ public:
}
/// \brief set the center of the cell of surface tree
- inline void setCenter(const smVec3d ¢er)
+ inline void setCenter(const core::Vec3d ¢er)
{
derived()->setCenter(center);
}
@@ -96,7 +96,7 @@ public:
}
/// \brief get the center of the cell of surface tree
- inline smVec3d &getCenter()
+ inline core::Vec3d &getCenter()
{
return derived()->getCenter();
}
@@ -108,7 +108,7 @@ public:
}
/// \brief get the center of the cell of surface tree
- inline const smVec3d &getCenter() const
+ inline const core::Vec3d &getCenter() const
{
return derived()->getCenter();
}
@@ -119,8 +119,8 @@ public:
return derived()->getLength();
}
- template<typename smAABB>
- inline void addTriangleData(const smAABB &aabb, size_t index)
+ template<typename AABB>
+ inline void addTriangleData(const AABB &aabb, size_t index)
{
return derived()->addTriangleData(aabb,index);
}
diff --git a/src/Collision/SurfaceTreeIterator.h b/src/Collision/SurfaceTreeIterator.h
index 6b5e06eca441a453142899fbcccfbf3937e105bc..58730f68626f0e49424bc3d83a0334d90fc9e286 100644
--- a/src/Collision/SurfaceTreeIterator.h
+++ b/src/Collision/SurfaceTreeIterator.h
@@ -30,24 +30,24 @@
/// \brief !!
template<typename CellType>
-class smSurfaceTreeIterator: public smCollisionModelIterator<CellType>
+class SurfaceTreeIterator: public CollisionModelIterator<CellType>
{
public:
- smSurfaceTree<CellType> *tree;
+ SurfaceTree<CellType> *tree;
/// \brief
- smSurfaceTreeIterator(smSurfaceTree<CellType> * p_tree)
+ SurfaceTreeIterator(SurfaceTree<CellType> * p_tree)
{
tree = p_tree;
}
/// \brief
- smSurfaceTreeIterator(const smCollisionModelIterator<CellType> &i)
- : smCollisionModelIterator<CellType>()
+ SurfaceTreeIterator(const CollisionModelIterator<CellType> &i)
+ : CollisionModelIterator<CellType>()
{
this->tree = nullptr;
- const smSurfaceTreeIterator<CellType> &otherTree = static_cast<const smSurfaceTreeIterator<CellType>&>(i);
+ const SurfaceTreeIterator<CellType> &otherTree = static_cast<const SurfaceTreeIterator<CellType>&>(i);
if(otherTree.tree)
this->tree = otherTree.tree;
this->startIndex = i.startIndex;
@@ -98,7 +98,7 @@ public:
return this->endIndex;
}
- friend smSurfaceTree<CellType>;
+ friend SurfaceTree<CellType>;
};
#endif
diff --git a/src/Collision/UnitTests/CollisionPairSpec.cpp b/src/Collision/UnitTests/CollisionPairSpec.cpp
index 82da3dc03cc39d401fd18d88fc286968193288a9..e4bbd7e7956cbd3e0956bf23c0a564fa110ae2af 100644
--- a/src/Collision/UnitTests/CollisionPairSpec.cpp
+++ b/src/Collision/UnitTests/CollisionPairSpec.cpp
@@ -33,13 +33,13 @@ using namespace bandit;
go_bandit([](){
describe("Collision pair", []() {
it("constructs ", []() {
- std::unique_ptr<smCollisionPair> collisionPair(make_unique<smCollisionPair>());
+ std::unique_ptr<CollisionPair> collisionPair(make_unique<CollisionPair>());
});
it("attaches models ", []() {
- std::unique_ptr<smCollisionPair> collisionPair(make_unique<smCollisionPair>());
+ std::unique_ptr<CollisionPair> collisionPair(make_unique<CollisionPair>());
- std::shared_ptr<smModelRepresentation> modelA = std::make_shared<smMeshCollisionModel>();
- std::shared_ptr<smModelRepresentation> modelB = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<ModelRepresentation> modelA = std::make_shared<MeshCollisionModel>();
+ std::shared_ptr<ModelRepresentation> modelB = std::make_shared<MeshCollisionModel>();
collisionPair->setModels(modelA,modelB);
@@ -48,14 +48,14 @@ go_bandit([](){
});
it("attaches contacts ", []() {
- std::unique_ptr<smCollisionPair> collisionPair(make_unique<smCollisionPair>());
+ std::unique_ptr<CollisionPair> collisionPair(make_unique<CollisionPair>());
float depth = 1.0;
- smVec3d contactPoint(0,0,1);
- smVec3d normal(1,0,0);
+ core::Vec3d contactPoint(0,0,1);
+ core::Vec3d normal(1,0,0);
collisionPair->addContact(depth,contactPoint,1,normal);
- std::shared_ptr<smContact> contact = collisionPair->getContacts().back();
+ std::shared_ptr<Contact> contact = collisionPair->getContacts().back();
AssertThat(collisionPair->hasContacts(), IsTrue());
AssertThat(contact->normal, Equals(normal));
diff --git a/src/Collision/UnitTests/MeshCollisionModelSpec.cpp b/src/Collision/UnitTests/MeshCollisionModelSpec.cpp
index a7ea208517d6674e8a1c741811463f926f1d6ab6..c2f1c63e3a8a4b2c6114c0da32397dd7a65311e7 100644
--- a/src/Collision/UnitTests/MeshCollisionModelSpec.cpp
+++ b/src/Collision/UnitTests/MeshCollisionModelSpec.cpp
@@ -32,10 +32,10 @@ using namespace bandit;
go_bandit([](){
describe("Mesh collision model used by collision detection algorithms.", []() {
it("construct ", []() {
- std::unique_ptr<smMeshCollisionModel> meshCollisionModel = make_unique<smMeshCollisionModel>();
+ std::unique_ptr<MeshCollisionModel> meshCollisionModel = make_unique<MeshCollisionModel>();
});
it("loads mesh ", []() {
- std::unique_ptr<smMeshCollisionModel> meshCollisionModel = make_unique<smMeshCollisionModel>();
+ std::unique_ptr<MeshCollisionModel> meshCollisionModel = make_unique<MeshCollisionModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
@@ -45,7 +45,7 @@ go_bandit([](){
});
it("can access positions ", []() {
- std::unique_ptr<smMeshCollisionModel> meshCollisionModel = make_unique<smMeshCollisionModel>();
+ std::unique_ptr<MeshCollisionModel> meshCollisionModel = make_unique<MeshCollisionModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
meshCollisionModel->setMesh(mesh);
@@ -54,7 +54,7 @@ go_bandit([](){
mesh->initVertexArrays(4);
mesh->initTriangleArrays(2);
- smStdVector3d vertices;
+ core::StdVector3d vertices;
vertices.emplace_back(1.0,2.0,-1.0);
vertices.emplace_back(2.0,3.0,1.0);
vertices.emplace_back(2.0,1.0,-1.0);
@@ -92,7 +92,7 @@ go_bandit([](){
AssertThat(meshCollisionModel->getTrianglePositions(1)[2], Equals(vertices[3]));
});
it("can access normals ", []() {
- std::unique_ptr<smMeshCollisionModel> meshCollisionModel = make_unique<smMeshCollisionModel>();
+ std::unique_ptr<MeshCollisionModel> meshCollisionModel = make_unique<MeshCollisionModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
meshCollisionModel->setMesh(mesh);
@@ -101,7 +101,7 @@ go_bandit([](){
mesh->initVertexArrays(4);
mesh->initTriangleArrays(2);
- smStdVector3d vertices;
+ core::StdVector3d vertices;
vertices.emplace_back(1.0,2.0,-1.0);
vertices.emplace_back(2.0,3.0,1.0);
vertices.emplace_back(2.0,1.0,-1.0);
@@ -131,14 +131,14 @@ go_bandit([](){
mesh->allocateAABBTris();
- smVec3d normalA = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]).normalized();
- smVec3d normalB = (vertices[2]-vertices[1]).cross(vertices[3]-vertices[1]).normalized();
+ core::Vec3d normalA = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]).normalized();
+ core::Vec3d normalB = (vertices[2]-vertices[1]).cross(vertices[3]-vertices[1]).normalized();
AssertThat((meshCollisionModel->getNormal(0)-normalA).squaredNorm(), EqualsWithDelta(0.0,.00001));
AssertThat((meshCollisionModel->getNormal(1)-normalB).squaredNorm(), EqualsWithDelta(0.0,.00001));
});
it("create BVH ", []() {
- std::unique_ptr<smMeshCollisionModel> meshCollisionModel = make_unique<smMeshCollisionModel>();
+ std::unique_ptr<MeshCollisionModel> meshCollisionModel = make_unique<MeshCollisionModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
meshCollisionModel->setMesh(mesh);
@@ -147,7 +147,7 @@ go_bandit([](){
mesh->initVertexArrays(4);
mesh->initTriangleArrays(2);
- smStdVector3d vertices;
+ core::StdVector3d vertices;
vertices.emplace_back(1.0,2.0,-1.0);
vertices.emplace_back(2.0,3.0,1.0);
vertices.emplace_back(2.0,1.0,-1.0);
@@ -176,8 +176,8 @@ go_bandit([](){
mesh->upadateAABB();
mesh->allocateAABBTris();
- std::shared_ptr<smMeshCollisionModel::AABBTreeType>
- modelAabbTree = std::make_shared<smMeshCollisionModel::AABBTreeType>(
+ std::shared_ptr<MeshCollisionModel::AABBTreeType>
+ modelAabbTree = std::make_shared<MeshCollisionModel::AABBTreeType>(
std::static_pointer_cast<smSurfaceMesh>(mesh),6);
modelAabbTree->initStructure();
diff --git a/src/Collision/UnitTests/MeshToMeshCollisionSpec.cpp b/src/Collision/UnitTests/MeshToMeshCollisionSpec.cpp
index f4f62aefb8ba530ede7f0bd70fb9e1642198760c..d33d3d2b340056bf125e82a7058cf4550830538e 100644
--- a/src/Collision/UnitTests/MeshToMeshCollisionSpec.cpp
+++ b/src/Collision/UnitTests/MeshToMeshCollisionSpec.cpp
@@ -31,9 +31,9 @@
using namespace bandit;
-std::shared_ptr<smMeshCollisionModel> getModel(const smStdVector3d &vertices)
+std::shared_ptr<MeshCollisionModel> getModel(const core::StdVector3d &vertices)
{
- std::shared_ptr<smMeshCollisionModel> model = std::make_shared<smMeshCollisionModel>();
+ std::shared_ptr<MeshCollisionModel> model = std::make_shared<MeshCollisionModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
// Add two triangles to the data structure
@@ -66,27 +66,27 @@ std::shared_ptr<smMeshCollisionModel> getModel(const smStdVector3d &vertices)
go_bandit([](){
describe("BVH Collision Detection Algorithm", []() {
it("constructs ", []() {
- std::unique_ptr<smCollisionDetection> meshToMeshCollision = make_unique<smMeshToMeshCollision>();
+ std::unique_ptr<CollisionDetection> meshToMeshCollision = make_unique<MeshToMeshCollision>();
AssertThat(meshToMeshCollision == nullptr, IsFalse());
});
it("performs collision detection ", []() {
- std::unique_ptr<smCollisionDetection> meshToMeshCollision = make_unique<smMeshToMeshCollision>();
+ std::unique_ptr<CollisionDetection> meshToMeshCollision = make_unique<MeshToMeshCollision>();
- smStdVector3d verticesA;
+ core::StdVector3d verticesA;
verticesA.emplace_back(1.0,2.0,0);
verticesA.emplace_back(2.0,3.0,0);
verticesA.emplace_back(2.0,1.0,0);
- smStdVector3d verticesB;
+ core::StdVector3d verticesB;
verticesB.emplace_back(1.0,2.0,0.5);
verticesB.emplace_back(2.0,3.0,0);
verticesB.emplace_back(2.0,1.0,0);
- std::shared_ptr<smModelRepresentation> modelA = getModel(verticesA);
+ std::shared_ptr<ModelRepresentation> modelA = getModel(verticesA);
- std::shared_ptr<smModelRepresentation> modelB = getModel(verticesB);
+ std::shared_ptr<ModelRepresentation> modelB = getModel(verticesB);
- std::shared_ptr<smCollisionPair> collisionPair = std::make_shared<smCollisionPair>();
+ std::shared_ptr<CollisionPair> collisionPair = std::make_shared<CollisionPair>();
collisionPair->setModels(modelA,modelB);
diff --git a/src/Collision/UnitTests/OctreeCellSpec.cpp b/src/Collision/UnitTests/OctreeCellSpec.cpp
index 62814c255cd69f5dc8b6963414024cd6f145f1c9..b380afc5b94dd477f206aac4ec2e157df8bcdc10 100644
--- a/src/Collision/UnitTests/OctreeCellSpec.cpp
+++ b/src/Collision/UnitTests/OctreeCellSpec.cpp
@@ -32,11 +32,11 @@ using namespace bandit;
go_bandit([](){
describe("octree data structure", []() {
- smOctreeCell treeCell;
+ OctreeCell treeCell;
- const int numberOfSubdivisions = smOctreeCell::numberOfSubdivisions;
+ const int numberOfSubdivisions = OctreeCell::numberOfSubdivisions;
- smVec3d center(1.,1.,1.);
+ core::Vec3d center(1.,1.,1.);
treeCell.setCenter(center);
float lenght = 14.5;
diff --git a/src/Collision/UnitTests/SpatialHashSpec.cpp b/src/Collision/UnitTests/SpatialHashSpec.cpp
index b5932aadb30ebcb2b9d4b8bc0d0b4efbf7f6f0f0..488e65766c52029e315fd1aaee758d9222bec1e4 100644
--- a/src/Collision/UnitTests/SpatialHashSpec.cpp
+++ b/src/Collision/UnitTests/SpatialHashSpec.cpp
@@ -25,7 +25,6 @@
#include "Collision/SpatialHashCollision.h"
#include "Core/ErrorLog.h"
-#include "Core/Pipe.h"
#include "Core/MakeUnique.h"
using namespace bandit;
@@ -34,7 +33,7 @@ go_bandit([](){
describe("the spatial hash collision detector", []() {
it("initializes properly ", []() {
- std::unique_ptr<smSpatialHashCollision> spatialHash(make_unique<smSpatialHashCollision>(10,1.0,1.0,1.0));
+ std::unique_ptr<SpatialHashCollision> spatialHash(make_unique<SpatialHashCollision>(10,1.0,1.0,1.0));
// AssertThat( spatialHash->pipe->getElements(), Equals( 1 ) );
// AssertThat( spatialHash->pipeTriangles->getElements(), Equals( 1 ) );
diff --git a/src/ContactHandling/PenaltyContactFemToStatic.cpp b/src/ContactHandling/PenaltyContactFemToStatic.cpp
index fac15fa8a2cda8dc9dd6a2758fe17aa51dcc8582..841d8076fe80c77764a4493700082e54323c198c 100644
--- a/src/ContactHandling/PenaltyContactFemToStatic.cpp
+++ b/src/ContactHandling/PenaltyContactFemToStatic.cpp
@@ -25,31 +25,31 @@
#include "Core/CollisionPair.h"
-smPenaltyContactFemToStatic::smPenaltyContactFemToStatic(bool typeBilateral) : smPenaltyContactHandling(typeBilateral)
+PenaltyContactFemToStatic::PenaltyContactFemToStatic(bool typeBilateral) : PenaltyContactHandling(typeBilateral)
{
- type = smContactHandlingType::PenaltyFemToStatic;
+ type = ContactHandlingType::PenaltyFemToStatic;
}
-smPenaltyContactFemToStatic::smPenaltyContactFemToStatic(
+PenaltyContactFemToStatic::PenaltyContactFemToStatic(
bool typeBilateral,
- const std::shared_ptr<smSceneObject>& sceneObjFirst,
- const std::shared_ptr<smSceneObject>& sceneObjSecond)
- : smPenaltyContactHandling(typeBilateral, sceneObjFirst, sceneObjSecond)
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond)
+ : PenaltyContactHandling(typeBilateral, sceneObjFirst, sceneObjSecond)
{
- type = smContactHandlingType::PenaltyFemToStatic;
+ type = ContactHandlingType::PenaltyFemToStatic;
}
-smPenaltyContactFemToStatic::~smPenaltyContactFemToStatic()
+PenaltyContactFemToStatic::~PenaltyContactFemToStatic()
{
}
-void smPenaltyContactFemToStatic::computeUnilateralContactForces()
+void PenaltyContactFemToStatic::computeUnilateralContactForces()
{
int penetratedNode, nodeDofID;
const double stiffness = 1.0e4, damping = 1.0e5;
- smVec3d velocityProjection;
+ core::Vec3d velocityProjection;
- std::vector<std::shared_ptr<smContact>> contactInfo = this->getCollisionPairs()->getContacts();
+ std::vector<std::shared_ptr<Contact>> contactInfo = this->getCollisionPairs()->getContacts();
if (this->getSecondSceneObject()->getType() == core::ClassType::VegaFemSceneObject
&& this->getFirstSceneObject()->getType() == core::ClassType::StaticSceneObject)
@@ -57,7 +57,7 @@ void smPenaltyContactFemToStatic::computeUnilateralContactForces()
auto femSceneObject = std::static_pointer_cast<smVegaFemSceneObject>(this->getSecondSceneObject());
femSceneObject->setContactForcesToZero();
- smVec3d force;
+ core::Vec3d force;
for (int i = 0; i < contactInfo.size(); i++)
{
nodeDofID = 3 * contactInfo[i]->index;
@@ -76,6 +76,6 @@ void smPenaltyContactFemToStatic::computeUnilateralContactForces()
}
}
-void smPenaltyContactFemToStatic::computeBilateralContactForces()
+void PenaltyContactFemToStatic::computeBilateralContactForces()
{
}
diff --git a/src/ContactHandling/PenaltyContactFemToStatic.h b/src/ContactHandling/PenaltyContactFemToStatic.h
index 3e6cc4882e20cb7e24ec1c6e42e0a1c221e4a5b2..cdfa2a6dee1466bdac5ba8995156b1516e7686d7 100644
--- a/src/ContactHandling/PenaltyContactFemToStatic.h
+++ b/src/ContactHandling/PenaltyContactFemToStatic.h
@@ -32,16 +32,16 @@
///
/// @brief Penalty based for contact handling
///
-class smPenaltyContactFemToStatic : public smPenaltyContactHandling
+class PenaltyContactFemToStatic : public PenaltyContactHandling
{
public:
- smPenaltyContactFemToStatic(bool typeBilateral);
+ PenaltyContactFemToStatic(bool typeBilateral);
- smPenaltyContactFemToStatic(bool typeBilateral,
- const std::shared_ptr<smSceneObject>& sceneObjFirst,
- const std::shared_ptr<smSceneObject>& sceneObjSecond);
+ PenaltyContactFemToStatic(bool typeBilateral,
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond);
- virtual ~smPenaltyContactFemToStatic();
+ virtual ~PenaltyContactFemToStatic();
/// \brief Get the forces on one the first scene object using penalty method
virtual void computeUnilateralContactForces() override;
diff --git a/src/ContactHandling/PenaltyContactHandling.cpp b/src/ContactHandling/PenaltyContactHandling.cpp
index 06594db6ef2768022ac127e1f213be52168d9c50..07b2b22d14f7cbef011090929e981a253e3c4607 100644
--- a/src/ContactHandling/PenaltyContactHandling.cpp
+++ b/src/ContactHandling/PenaltyContactHandling.cpp
@@ -26,22 +26,22 @@
#include "Simulators/VegaFemSceneObject.h"
#include "Core/CollisionPair.h"
-smPenaltyContactHandling::smPenaltyContactHandling(bool typeBilateral) : smContactHandling(typeBilateral)
+PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral) : ContactHandling(typeBilateral)
{
}
-smPenaltyContactHandling::smPenaltyContactHandling( bool typeBilateral,
- const std::shared_ptr<smSceneObject>& sceneObjFirst,
- const std::shared_ptr<smSceneObject>& sceneObjSecond)
- : smContactHandling(typeBilateral,sceneObjFirst,sceneObjSecond)
+PenaltyContactHandling::PenaltyContactHandling( bool typeBilateral,
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond)
+ : ContactHandling(typeBilateral,sceneObjFirst,sceneObjSecond)
{
}
-smPenaltyContactHandling::~smPenaltyContactHandling()
+PenaltyContactHandling::~PenaltyContactHandling()
{
};
-void smPenaltyContactHandling::resolveContacts()
+void PenaltyContactHandling::resolveContacts()
{
if (!isBilateral)
{
diff --git a/src/ContactHandling/PenaltyContactHandling.h b/src/ContactHandling/PenaltyContactHandling.h
index 62c2969339d33d809a6fd63afb5fffc77c9799c8..038ee0c682cbb9b7fc411e63cc1aef999e900fca 100644
--- a/src/ContactHandling/PenaltyContactHandling.h
+++ b/src/ContactHandling/PenaltyContactHandling.h
@@ -29,16 +29,16 @@
#include "Core/ContactHandling.h"
/// \brief Penalty based for contact handling
-class smPenaltyContactHandling : public smContactHandling
+class PenaltyContactHandling : public ContactHandling
{
public:
- smPenaltyContactHandling(bool typeBilateral);
+ PenaltyContactHandling(bool typeBilateral);
- smPenaltyContactHandling(bool typeBilateral,
- const std::shared_ptr<smSceneObject>& sceneObjFirst,
- const std::shared_ptr<smSceneObject>& sceneObjSecond);
+ PenaltyContactHandling(bool typeBilateral,
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond);
- virtual ~smPenaltyContactHandling();
+ virtual ~PenaltyContactHandling();
void resolveContacts();
diff --git a/src/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp b/src/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
index 0aa27fb2a8878a84ab82c7c6d975a14e2694456e..cd2a5aa892d002ccb30e0111f52fb03ab3ae1501 100644
--- a/src/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
+++ b/src/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
@@ -33,11 +33,11 @@
using namespace bandit;
-std::shared_ptr<smStaticSceneObject> createStaticPlaneSceneObject()
+std::shared_ptr<StaticSceneObject> createStaticPlaneSceneObject()
{
- auto staticPlane = std::make_shared<smStaticSceneObject>();
+ auto staticPlane = std::make_shared<StaticSceneObject>();
- std::shared_ptr<smPlaneCollisionModel> plane = std::make_shared<smPlaneCollisionModel>( smVec3d(0.0, 0.0, 0.0), smVec3d(0.0, 0.0, 1.0) );
+ std::shared_ptr<PlaneCollisionModel> plane = std::make_shared<PlaneCollisionModel>( core::Vec3d(0.0, 0.0, 0.0), core::Vec3d(0.0, 0.0, 1.0) );
staticPlane->setModel(plane);
@@ -45,13 +45,13 @@ std::shared_ptr<smStaticSceneObject> createStaticPlaneSceneObject()
}
-std::shared_ptr<smCollisionPair> createSampleCollisionPair()
+std::shared_ptr<CollisionPair> createSampleCollisionPair()
{
- auto collisionPair = std::make_shared<smCollisionPair>();
+ auto collisionPair = std::make_shared<CollisionPair>();
float depth = 1.0;
- smVec3d contactPoint(0,0,1);
- smVec3d normal(1,0,0);
+ core::Vec3d contactPoint(0,0,1);
+ core::Vec3d normal(1,0,0);
collisionPair->addContact(depth,contactPoint,1,normal);
@@ -65,20 +65,20 @@ go_bandit([]() {
it("initializes properly ", []() {
- auto handler = std::make_shared<smPenaltyContactFemToStatic>(false);
+ auto handler = std::make_shared<PenaltyContactFemToStatic>(false);
AssertThat(handler != nullptr, IsTrue());
- AssertThat(handler->getContactHandlingType() == smContactHandlingType::PenaltyFemToStatic, IsTrue());
+ AssertThat(handler->getContactHandlingType() == ContactHandlingType::PenaltyFemToStatic, IsTrue());
});
it("attches a collision pair ", []() {
- auto handler = std::make_shared<smPenaltyContactFemToStatic>(false);
+ auto handler = std::make_shared<PenaltyContactFemToStatic>(false);
auto collisionPair = createSampleCollisionPair();
handler->setCollisionPairs(collisionPair);
AssertThat(handler->getCollisionPairs() == collisionPair, IsTrue());
});
it("attaches a scene object ", []() {
- auto handler = std::make_shared<smPenaltyContactFemToStatic>(false);
+ auto handler = std::make_shared<PenaltyContactFemToStatic>(false);
auto fem = std::make_shared<smVegaFemSceneObject>();
auto plane = createStaticPlaneSceneObject();
handler->setSceneObjects(plane,fem);
@@ -89,7 +89,7 @@ go_bandit([]() {
});
it("computes contact force ", []() {
- auto handler = std::make_shared<smPenaltyContactFemToStatic>(false);
+ auto handler = std::make_shared<PenaltyContactFemToStatic>(false);
auto fem = std::make_shared<smVegaFemSceneObject>();
auto collisionPair = createSampleCollisionPair();
auto plane = createStaticPlaneSceneObject();
diff --git a/src/Core/CMakeLists.txt b/src/Core/CMakeLists.txt
index 3b78e32d56c48d3eb97209f0ae2023a330e58ac2..4e7ea648ff191c469525baca687f9d01fd4f7086 100644
--- a/src/Core/CMakeLists.txt
+++ b/src/Core/CMakeLists.txt
@@ -15,7 +15,6 @@ simmedtk_add_library(Core
Geometry.cpp
IOStream.cpp
Light.cpp
- Math.cpp
Module.cpp
ObjectSimulator.cpp
RenderDetail.cpp
@@ -25,7 +24,6 @@ simmedtk_add_library(Core
Simulator.cpp
StaticSceneObject.cpp
Timer.cpp
- Pipe.cpp
UnifiedId.cpp
ViewerBase.cpp
PUBLIC_HEADERS
@@ -38,7 +36,6 @@ simmedtk_add_library(Core
CoreClass.h
Dispatcher.h
DisplayText.h
- Pipe.h
ErrorLog.h
EventData.h
Event.h
@@ -50,7 +47,6 @@ simmedtk_add_library(Core
MemoryBlock.h
Module.h
ObjectSimulator.h
- Pipe.h
Scene.h
SceneObject.h
Scheduler.h
diff --git a/src/Core/CollisionConfig.cpp b/src/Core/CollisionConfig.cpp
index b6ceaaab8ae64e1a6b87046cf5c419e89457d864..3ea01b95c4d1729d09767f04acc0901e50806676 100644
--- a/src/Core/CollisionConfig.cpp
+++ b/src/Core/CollisionConfig.cpp
@@ -23,17 +23,17 @@
#include "CollisionConfig.h"
-bool smCellTriangle::operator==( unsigned int p_ID )
+bool CellTriangle::operator==( unsigned int p_ID )
{
return ( primID == p_ID ? true : false );
}
-bool smCellTriangle::operator==( smCellTriangle &p_tri )
+bool CellTriangle::operator==( CellTriangle &p_tri )
{
return ( p_tri.primID == primID ? true : false );
}
-std::ostream &operator<<( std::ostream &out, smCellTriangle &tri )
+std::ostream &operator<<( std::ostream &out, CellTriangle &tri )
{
out << tri.primID;
return out;
diff --git a/src/Core/CollisionConfig.h b/src/Core/CollisionConfig.h
index 8489556482234f9b2e4f393f6551ee3159960c22..d3e74bfc8b64e07216b8aca13f62fe838f242458 100644
--- a/src/Core/CollisionConfig.h
+++ b/src/Core/CollisionConfig.h
@@ -33,19 +33,19 @@ struct GeometryRepresentation {};
/// \brief Contains information related to the triangles that are present in a cell
/// at any given point
-struct smCellTriangle : public GeometryRepresentation
+struct CellTriangle : public GeometryRepresentation
{
- smCellTriangle() : primID(0) {}
- smCellTriangle(const unsigned int &id) : primID(id) {}
+ CellTriangle() : primID(0) {}
+ CellTriangle(const unsigned int &id) : primID(id) {}
unsigned int primID;
- std::shared_ptr<smUnifiedId> meshID;
- smVec3d vert[3];
+ std::shared_ptr<UnifiedId> meshID;
+ core::Vec3d vert[3];
bool operator ==(unsigned int p_ID);
- bool operator ==(smCellTriangle &p_tri);
+ bool operator ==(CellTriangle &p_tri);
- friend std::ostream &operator<<(std::ostream &out, smCellTriangle &tri);
+ friend std::ostream &operator<<(std::ostream &out, CellTriangle &tri);
};
/// \brief Contains information related to the a line segments that are present in a cell
@@ -55,8 +55,8 @@ struct smCellLine : public GeometryRepresentation
smCellLine() : primID(0) {}
smCellLine(const unsigned int &id) : primID(id) {}
unsigned int primID; ///< Edge id
- std::shared_ptr<smUnifiedId> meshID; ///< smMeshLine id
- smVec3d vert[2]; ///< Vertices
+ std::shared_ptr<UnifiedId> meshID; ///< smMeshLine id
+ core::Vec3d vert[2]; ///< Vertices
bool operator ==(unsigned int p_ID);
bool operator ==(smCellLine &p_line);
@@ -70,8 +70,8 @@ struct smCellModel : public GeometryRepresentation
smCellModel() : primID(0) {}
smCellModel(const unsigned int &id) : primID(id) {}
unsigned int primID; ///< Model Prim id
- std::shared_ptr<smUnifiedId> meshID; ///< smMeshLine id
- smVec3d center; ///< Vertices
+ std::shared_ptr<UnifiedId> meshID; ///< smMeshLine id
+ core::Vec3d center; ///< Vertices
double radius;
bool operator ==(unsigned int p_ID);
@@ -89,8 +89,8 @@ struct smCellPoint : public GeometryRepresentation
smCellPoint() : primID(0) {}
smCellPoint(const unsigned int &id) : primID(id) {}
unsigned int primID; ///< Model Prim id
- std::shared_ptr<smUnifiedId> meshID; ///< smMeshLine id
- smVec3d vert; ///< Vertices
+ std::shared_ptr<UnifiedId> meshID; ///< smMeshLine id
+ core::Vec3d vert; ///< Vertices
bool operator ==(unsigned int p_ID);
@@ -103,18 +103,18 @@ struct smCellPoint : public GeometryRepresentation
/// \brief Contains triangle pair that have collided
struct smCollidedTriangles
{
- smCellTriangle tri1;
- smCellTriangle tri2;
- smVec3d proj1, proj2;
+ CellTriangle tri1;
+ CellTriangle tri2;
+ core::Vec3d proj1, proj2;
short point1, point2;
};
/// \brief Contains line pair that have collided
struct smCollidedLineTris
{
- smCellTriangle tri;
+ CellTriangle tri;
smCellLine line;
- smVec3d intersection;
+ core::Vec3d intersection;
};
/// \brief Contains model-point pair that have collided
diff --git a/src/Core/CollisionDetection.cpp b/src/Core/CollisionDetection.cpp
index 1b2fe12bc42ae505368eeaefdb5321bbe6383ad2..cd55e24be8f1d92fe548f56fd4056d61feaf56bc 100644
--- a/src/Core/CollisionDetection.cpp
+++ b/src/Core/CollisionDetection.cpp
@@ -23,7 +23,7 @@
#include "CollisionDetection.h"
-void smCollisionDetection::computeCollision(std::shared_ptr< smCollisionPair > pairs)
+void CollisionDetection::computeCollision(std::shared_ptr< CollisionPair > pairs)
{
this->doComputeCollision(pairs);
}
diff --git a/src/Core/CollisionDetection.h b/src/Core/CollisionDetection.h
index 1a1cfb72c6e9a0967db532ee26c1b690201cbe14..1a75e8b116e2c333ab675b16929c948ca285d40c 100644
--- a/src/Core/CollisionDetection.h
+++ b/src/Core/CollisionDetection.h
@@ -31,22 +31,22 @@
#include "CoreClass.h"
class smMesh;
-class smCollisionPair;
+class CollisionPair;
/// \brief Base class to calculate contact information between two meshes
/// It determines if two meshes are in close proximity and calculates contacts
/// if they are.
-class smCollisionDetection: public smCoreClass
+class CollisionDetection: public CoreClass
{
public:
- smCollisionDetection() {}
+ CollisionDetection() {}
- virtual ~smCollisionDetection() {}
+ virtual ~CollisionDetection() {}
- void computeCollision(std::shared_ptr<smCollisionPair> pairs);
+ void computeCollision(std::shared_ptr<CollisionPair> pairs);
private:
- virtual void doComputeCollision(std::shared_ptr<smCollisionPair> pairs) = 0;
+ virtual void doComputeCollision(std::shared_ptr<CollisionPair> pairs) = 0;
};
#endif
diff --git a/src/Core/CollisionModel.h b/src/Core/CollisionModel.h
deleted file mode 100644
index 9749fa430150d5aa0631d04377dc1da2afecd24d..0000000000000000000000000000000000000000
--- a/src/Core/CollisionModel.h
+++ /dev/null
@@ -1,63 +0,0 @@
-// This file is part of the SimMedTK project.
-// Copyright (c) Center for Modeling, Simulation, and 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
-//
-// 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.
-//
-//---------------------------------------------------------------------------
-//
-// Authors:
-//
-// Contact:
-//---------------------------------------------------------------------------
-
-#ifndef SM_COLLISIONMODEL_H
-#define SM_COLLISIONMODEL_H
-
-// SimMedTK includes
-#include "CoreClass.h"
-#include "CollisionModelIterator.h"
-#include "Matrix.h"
-
-/// \brief !!
-template<typename T>
-class smCollisionModel: public smCoreClass
-{
-protected:
- typedef smMatrix44f MatrixType;
-
-public:
- /// \brief !!
- virtual void initStructure() = 0;
-
- /// \brief !!
- virtual void reCreateStructure() = 0;
-
- /// \brief !!
- virtual void updateStructure() = 0;
-
- /// \brief !!
- virtual void translateRot() = 0;
-
- /// \brief !!
- virtual void setTranslateRot(MatrixType &) = 0;
-
- /// \brief !!
- virtual smCollisionModelIterator<T> getLevelIterator(int level) = 0;
-
- /// \brief !!
- virtual smCollisionModelIterator<T> getLevelIterator() = 0;
-};
-
-
-#endif
diff --git a/src/Core/CollisionModelIterator.h b/src/Core/CollisionModelIterator.h
index cf9cf551bbae33a136ff5cc7f6ea4b91a4e6fd44..dfe17ff9dcbc8a436b5adefa3f28a0eaab6a391d 100644
--- a/src/Core/CollisionModelIterator.h
+++ b/src/Core/CollisionModelIterator.h
@@ -26,7 +26,7 @@
/// \brief !!
template <typename T>
-class smCollisionModelIterator
+class CollisionModelIterator
{
public:
diff --git a/src/Core/CollisionPair.cpp b/src/Core/CollisionPair.cpp
index 920f6a0bb66636f38364e543ec975735b1a1a769..14612776c9d41589c751a59f6fdc9b394c032ed3 100644
--- a/src/Core/CollisionPair.cpp
+++ b/src/Core/CollisionPair.cpp
@@ -23,65 +23,65 @@
#include "CollisionPair.h"
-smCollisionPair::smCollisionPair() {}
-smCollisionPair::~smCollisionPair() {}
+CollisionPair::CollisionPair() {}
+CollisionPair::~CollisionPair() {}
-void smCollisionPair::setModels(const std::shared_ptr< smModelRepresentation >& first,
- const std::shared_ptr< smModelRepresentation >& second)
+void CollisionPair::setModels(const std::shared_ptr< ModelRepresentation >& first,
+ const std::shared_ptr< ModelRepresentation >& second)
{
this->modelRepresentations.first = first;
this->modelRepresentations.second = second;
}
-void smCollisionPair::addContact(const double& penetrationDepth, const smVec3d& vert, const int index, const smVec3d& contactNornmal)
+void CollisionPair::addContact(const double& penetrationDepth, const core::Vec3d& vert, const int index, const core::Vec3d& contactNornmal)
{
- auto contact = std::make_shared<smContact>(penetrationDepth, vert, index, contactNornmal);
+ auto contact = std::make_shared<Contact>(penetrationDepth, vert, index, contactNornmal);
//std::shared_ptr<smContact> contact(new smContact(penetrationDepth, vert, index, contactNornmal));
this->contacts.emplace_back(contact);
}
-const std::pair< std::shared_ptr< smModelRepresentation >, std::shared_ptr< smModelRepresentation > >&
-smCollisionPair::getModels() const
+const std::pair< std::shared_ptr< ModelRepresentation >, std::shared_ptr< ModelRepresentation > >&
+CollisionPair::getModels() const
{
return modelRepresentations;
}
-void smCollisionPair::clearContacts()
+void CollisionPair::clearContacts()
{
contacts.clear();
}
-int smCollisionPair::getNumberOfContacts()
+int CollisionPair::getNumberOfContacts()
{
return contacts.size();
}
-std::shared_ptr< smModelRepresentation > smCollisionPair::getFirst()
+std::shared_ptr< ModelRepresentation > CollisionPair::getFirst()
{
return this->modelRepresentations.first;
}
-std::shared_ptr< smModelRepresentation > smCollisionPair::getSecond()
+std::shared_ptr< ModelRepresentation > CollisionPair::getSecond()
{
return this->modelRepresentations.second;
}
-bool smCollisionPair::hasContacts()
+bool CollisionPair::hasContacts()
{
return !this->contacts.empty();
}
-std::vector< std::shared_ptr< smContact > >& smCollisionPair::getContacts()
+std::vector< std::shared_ptr< Contact > >& CollisionPair::getContacts()
{
return contacts;
}
-const std::vector< std::shared_ptr< smContact > >& smCollisionPair::getContacts() const
+const std::vector< std::shared_ptr< Contact > >& CollisionPair::getContacts() const
{
return contacts;
}
-void smCollisionPair::printCollisionPairs()
+void CollisionPair::printCollisionPairs()
{
std::cout << "# Contacts: " << this->contacts.size() << std::endl;
for (int i = 0; i < this->contacts.size(); i++)
diff --git a/src/Core/CollisionPair.h b/src/Core/CollisionPair.h
index dfdaede52688bc24deff2e50678e7d45617d3248..7351b2a09f959c40be112fcc41a771f9b4e9d643 100644
--- a/src/Core/CollisionPair.h
+++ b/src/Core/CollisionPair.h
@@ -33,18 +33,18 @@
#include <vector>
#include <iostream>
-class smModelRepresentation;
+class ModelRepresentation;
///
/// \brief Contact point representation
///
-class smContact
+class Contact
{
public:
- smContact ( const double penetrationDepth,
- const smVec3d& p,
+ Contact ( const double penetrationDepth,
+ const core::Vec3d& p,
const int ind,
- const smVec3d& contactNornmal
+ const core::Vec3d& contactNornmal
) : depth(penetrationDepth), point(p), index(ind), normal(contactNornmal){}
void printInfo()
@@ -56,8 +56,8 @@ public:
}
double depth;
- smVec3d point;
- smVec3d normal;
+ core::Vec3d point;
+ core::Vec3d normal;
int index;
};
@@ -65,31 +65,31 @@ public:
/// \brief Contains pair of potential collision models
/// This class also stores contacts between those models.
///
-class smCollisionPair
+class CollisionPair
{
public:
- smCollisionPair();
- ~smCollisionPair();
+ CollisionPair();
+ ~CollisionPair();
///
/// @brief Set the pair of collision models
///
- void setModels(const std::shared_ptr<smModelRepresentation>& first,
- const std::shared_ptr<smModelRepresentation>& second );
+ void setModels(const std::shared_ptr<ModelRepresentation>& first,
+ const std::shared_ptr<ModelRepresentation>& second );
///
/// @brief Get the pair of collision models
///
- const std::pair<std::shared_ptr<smModelRepresentation>, std::shared_ptr<smModelRepresentation>>&
+ const std::pair<std::shared_ptr<ModelRepresentation>, std::shared_ptr<ModelRepresentation>>&
getModels() const;
///
/// @brief Add contact between the models
///
void addContact( const double& penetrationDepth,
- const smVec3d& vert,
+ const core::Vec3d& vert,
const int index,
- const smVec3d& contactNornmal);
+ const core::Vec3d& contactNornmal);
///
/// @brief Clear contact list
@@ -99,12 +99,12 @@ public:
///
/// @brief Get first model
///
- std::shared_ptr<smModelRepresentation> getFirst();
+ std::shared_ptr<ModelRepresentation> getFirst();
///
/// @brief Get second model
///
- std::shared_ptr<smModelRepresentation> getSecond();
+ std::shared_ptr<ModelRepresentation> getSecond();
///
/// @brief Returns wether the contact container is empty
@@ -119,8 +119,8 @@ public:
///
/// @brief Returns contact array for these two models
///
- std::vector<std::shared_ptr<smContact>> &getContacts();
- const std::vector<std::shared_ptr<smContact>> &getContacts() const;
+ std::vector<std::shared_ptr<Contact>> &getContacts();
+ const std::vector<std::shared_ptr<Contact>> &getContacts() const;
///
/// @brief Returns contact array for these two models
@@ -128,10 +128,10 @@ public:
void printCollisionPairs();
private:
- std::pair<std::shared_ptr<smModelRepresentation>,
- std::shared_ptr<smModelRepresentation>> modelRepresentations; // Models
+ std::pair<std::shared_ptr<ModelRepresentation>,
+ std::shared_ptr<ModelRepresentation>> modelRepresentations; // Models
- std::vector<std::shared_ptr<smContact>> contacts; // List of contacts
+ std::vector<std::shared_ptr<Contact>> contacts; // List of contacts
};
#endif // SMCOLLISIONPAIR_H
diff --git a/src/Core/Color.cpp b/src/Core/Color.cpp
index de98ea924f574dfd07cf128cf2354cd0d0db4708..442b60b43b3a0327cc8c3f0ed4215ee7b4ff07ed 100644
--- a/src/Core/Color.cpp
+++ b/src/Core/Color.cpp
@@ -16,15 +16,15 @@
#include "Color.h"
-smColor smColor::colorWhite(1.0, 1.0, 1.0, 1.0);
-smColor smColor::colorBlue(0.0, 0.0, 1.0, 1.0);
-smColor smColor::colorGreen(0.0, 1.0, 0.0, 1.0);
-smColor smColor::colorRed(1.0, 0.0, 0.0, 1.0);
-smColor smColor::colorGray(0.8, 0.8, 0.8, 1.0);
-smColor smColor::colorYellow(1, 1, 0, 1);
-smColor smColor::colorPink(1, 0, 1, 1);
+Color Color::colorWhite(1.0, 1.0, 1.0, 1.0);
+Color Color::colorBlue(0.0, 0.0, 1.0, 1.0);
+Color Color::colorGreen(0.0, 1.0, 0.0, 1.0);
+Color Color::colorRed(1.0, 0.0, 0.0, 1.0);
+Color Color::colorGray(0.8, 0.8, 0.8, 1.0);
+Color Color::colorYellow(1, 1, 0, 1);
+Color Color::colorPink(1, 0, 1, 1);
-smColor::smColor()
+Color::Color()
{
rgba[0] = 0.8f;
rgba[1] = 0.8f;
@@ -32,7 +32,7 @@ smColor::smColor()
rgba[3] = 1.0f;
}
-smColor::smColor( float r, float g, float b, float a )
+Color::Color( float r, float g, float b, float a )
{
rgba[0] = r;
rgba[1] = g;
@@ -40,7 +40,7 @@ smColor::smColor( float r, float g, float b, float a )
rgba[3] = a;
}
-void smColor::darken( float p_darkFactor )
+void Color::darken( float p_darkFactor )
{
rgba[0] = ( rgba[1] - rgba[1] * ( p_darkFactor ) );
@@ -51,7 +51,7 @@ void smColor::darken( float p_darkFactor )
rgba[2] = ( rgba[2] < 0 ? 0 : rgba[2] );
}
-void smColor::lighten( float p_darkFactor )
+void Color::lighten( float p_darkFactor )
{
rgba[0] = rgba[1] + rgba[1] * ( p_darkFactor );
@@ -63,7 +63,7 @@ void smColor::lighten( float p_darkFactor )
rgba[2] = ( rgba[2] < 1.0 ? 1.0 : rgba[2] );
}
-float smColor::operator()( int p_i )
+float Color::operator()( int p_i )
{
if ( p_i < 0 || p_i > 3 )
{
@@ -73,7 +73,7 @@ float smColor::operator()( int p_i )
return rgba[p_i];
}
-smColor &smColor::operator=(const smColor &p_color )
+Color &Color::operator=(const Color &p_color )
{
rgba[0] = p_color.rgba[0];
rgba[1] = p_color.rgba[1];
@@ -82,17 +82,17 @@ smColor &smColor::operator=(const smColor &p_color )
return *this;
}
-GLfloat *smColor::toGLColor()
+GLfloat *Color::toGLColor()
{
return static_cast<GLfloat*>(rgba);
}
-const GLfloat *smColor::toGLColor() const
+const GLfloat *Color::toGLColor() const
{
return static_cast<const GLfloat*>(rgba);
}
-void smColor::setValue( float p_red, float p_green, float p_blue, float p_alpha )
+void Color::setValue( float p_red, float p_green, float p_blue, float p_alpha )
{
rgba[0] = p_red;
rgba[1] = p_green;
diff --git a/src/Core/Color.h b/src/Core/Color.h
index 26ddf46141bdfa2eaff40802bb536edc3a235de8..dedb80ef29d4668af131b48b0990892a500ab2e2 100644
--- a/src/Core/Color.h
+++ b/src/Core/Color.h
@@ -18,7 +18,7 @@
#include "Config.h"
-struct smColor
+struct Color
{
union
{
@@ -31,8 +31,8 @@ struct smColor
float a;
};
};
- smColor();
- smColor(float r, float g, float b, float a = 1.0);
+ Color();
+ Color(float r, float g, float b, float a = 1.0);
/// \brief Dark ratio. the valu is between 0 and 1.0
void darken(float p_darkFactor);
@@ -42,20 +42,20 @@ struct smColor
/// \brief returns the color value given with the index
float operator()(int p_i);
/// \brief setting
- smColor &operator=(const smColor &p_color);
+ Color &operator=(const Color &p_color);
/// \brief converts to gl color
GLfloat* toGLColor();
const GLfloat* toGLColor() const;
/// \brief set RGB color
void setValue(float p_red, float p_green, float p_blue, float p_alpha);
- static smColor colorWhite;
- static smColor colorBlue;
- static smColor colorGreen;
- static smColor colorRed;
- static smColor colorGray;
- static smColor colorPink;
- static smColor colorYellow;
+ static Color colorWhite;
+ static Color colorBlue;
+ static Color colorGreen;
+ static Color colorRed;
+ static Color colorGray;
+ static Color colorPink;
+ static Color colorYellow;
};
#endif // SMCOLOR_H
diff --git a/src/Core/Config.h b/src/Core/Config.h
index da44ec0aa8cd82516fb4d6ad10f502b701ffcc2f..b0509b2615331982657171e31a3342165940b7f2 100644
--- a/src/Core/Config.h
+++ b/src/Core/Config.h
@@ -37,9 +37,9 @@
#ifdef _WIN32
#ifndef MINGW32
- #define NOMINMAX
+# define NOMINMAX
#endif
-#include <windows.h>
+# include <windows.h>
#endif
#include <GL/glew.h>
@@ -134,7 +134,7 @@ enum class ClassDrawOrder
AfterObjects
};
-}
+} // namespace core
// FIXME: This is currently hardwired into CMake, but must change
// once we get SimMedTK declspec'd and building dynamically
// on Windows.
diff --git a/src/Core/ContactHandling.cpp b/src/Core/ContactHandling.cpp
index ee49de64909a7670fa350f7d436bad76fa768f0c..f34bd68f68b344e7a191143042a2d73a6923c984 100644
--- a/src/Core/ContactHandling.cpp
+++ b/src/Core/ContactHandling.cpp
@@ -23,7 +23,7 @@
#include "ContactHandling.h"
-smContactHandling::smContactHandling(const bool typeBilateral)
+ContactHandling::ContactHandling(const bool typeBilateral)
{
if (typeBilateral)
{
@@ -34,12 +34,12 @@ smContactHandling::smContactHandling(const bool typeBilateral)
isBilateral = false;
}
- type = smContactHandlingType::UNKNOWN;
+ type = ContactHandlingType::UNKNOWN;
};
-smContactHandling::smContactHandling(const bool typeBilateral,
- const std::shared_ptr< smSceneObject > first,
- const std::shared_ptr< smSceneObject > second)
+ContactHandling::ContactHandling(const bool typeBilateral,
+ const std::shared_ptr< SceneObject > first,
+ const std::shared_ptr< SceneObject > second)
{
if (typeBilateral)
{
@@ -52,47 +52,47 @@ smContactHandling::smContactHandling(const bool typeBilateral,
setSceneObjects(first, second);
- type = smContactHandlingType::UNKNOWN;
+ type = ContactHandlingType::UNKNOWN;
}
-smContactHandling::~smContactHandling()
+ContactHandling::~ContactHandling()
{
}
/// \brief Set the scene objects that are colliding
-void smContactHandling::setSceneObjects(const std::shared_ptr< smSceneObject > first,
- const std::shared_ptr< smSceneObject > second)
+void ContactHandling::setSceneObjects(const std::shared_ptr< SceneObject > first,
+ const std::shared_ptr< SceneObject > second)
{
collidingSceneObjects.first = first;
collidingSceneObjects.second = second;
}
-void smContactHandling::setCollisionPairs(const std::shared_ptr< smCollisionPair > colPair)
+void ContactHandling::setCollisionPairs(const std::shared_ptr< CollisionPair > colPair)
{
collisionPairs = colPair;
}
-std::shared_ptr<smCollisionPair> smContactHandling::getCollisionPairs() const
+std::shared_ptr<CollisionPair> ContactHandling::getCollisionPairs() const
{
return collisionPairs;
}
-smContactHandlingType smContactHandling::getContactHandlingType() const
+ContactHandlingType ContactHandling::getContactHandlingType() const
{
return type;
}
-std::shared_ptr<smSceneObject> smContactHandling::getFirstSceneObject() const
+std::shared_ptr<SceneObject> ContactHandling::getFirstSceneObject() const
{
return this->collidingSceneObjects.first;
}
-std::shared_ptr<smSceneObject> smContactHandling::getSecondSceneObject() const
+std::shared_ptr<SceneObject> ContactHandling::getSecondSceneObject() const
{
return this->collidingSceneObjects.second;
}
-bool smContactHandling::isUnilateral() const
+bool ContactHandling::isUnilateral() const
{
return !isBilateral;
}
diff --git a/src/Core/ContactHandling.h b/src/Core/ContactHandling.h
index bb3643f65de194e19738db7827a60a8e62d7ea5f..f8aab6aeceb5e4862a3eae5a456a6faae610a1f5 100644
--- a/src/Core/ContactHandling.h
+++ b/src/Core/ContactHandling.h
@@ -32,9 +32,9 @@
#include <memory>
class smMesh;
-class smCollisionPair;
+class CollisionPair;
-enum class smContactHandlingType
+enum class ContactHandlingType
{
PenaltyFemToStatic,
UNKNOWN
@@ -43,53 +43,53 @@ enum class smContactHandlingType
/// \brief Base class to for handling contact for collision response
/// Input: collision pairs containing the collision information
/// Output: contact forces or Jacobians or projection/PBD constraints
-class smContactHandling: public smCoreClass
+class ContactHandling: public CoreClass
{
public:
- smContactHandling(const bool typeBilateral);
+ ContactHandling(const bool typeBilateral);
- smContactHandling(const bool typeBilateral,
- const std::shared_ptr<smSceneObject> sceneObjFirst,
- const std::shared_ptr<smSceneObject> sceneObjSecond);
+ ContactHandling(const bool typeBilateral,
+ const std::shared_ptr<SceneObject> sceneObjFirst,
+ const std::shared_ptr<SceneObject> sceneObjSecond);
- virtual ~smContactHandling();
+ virtual ~ContactHandling();
/// \brief returns true if bilateral
bool isUnilateral() const;
/// \brief Set the scene objects that are colliding
- void setSceneObjects(const std::shared_ptr< smSceneObject > first,
- const std::shared_ptr< smSceneObject > second);
+ void setSceneObjects(const std::shared_ptr< SceneObject > first,
+ const std::shared_ptr< SceneObject > second);
/// \brief Set the collision pair data structure in which the information
/// needs to be stored
- void setCollisionPairs(const std::shared_ptr< smCollisionPair > colPair);
+ void setCollisionPairs(const std::shared_ptr< CollisionPair > colPair);
/// \brief Get the colliison information contained in the collision pairs
- std::shared_ptr<smCollisionPair> getCollisionPairs() const;
+ std::shared_ptr<CollisionPair> getCollisionPairs() const;
/// \brief Get if the contact handling is unilateral or bilateral
- smContactHandlingType getContactHandlingType() const;
+ ContactHandlingType getContactHandlingType() const;
/// \brief Get the first scene object
- std::shared_ptr<smSceneObject> getFirstSceneObject() const;
+ std::shared_ptr<SceneObject> getFirstSceneObject() const;
/// \brief Get the second scene object
- std::shared_ptr<smSceneObject> getSecondSceneObject() const;
+ std::shared_ptr<SceneObject> getSecondSceneObject() const;
/// \brief Implementation of how the contacts between colliding
/// objects is resolved
virtual void resolveContacts() = 0;
protected:
- smContactHandlingType type;
+ ContactHandlingType type;
bool isBilateral;
- std::pair<std::shared_ptr<smSceneObject>, std::shared_ptr<smSceneObject>> collidingSceneObjects;
+ std::pair<std::shared_ptr<SceneObject>, std::shared_ptr<SceneObject>> collidingSceneObjects;
- std::shared_ptr<smCollisionPair> collisionPairs;
+ std::shared_ptr<CollisionPair> collisionPairs;
};
#endif //SMCONTACTHANDLING_H
diff --git a/src/Core/CoreClass.cpp b/src/Core/CoreClass.cpp
index 2fd85b051ebad8afdaf594c429fd38aaefdb0652..7f0d761550b8bf83022fd35d33c44b55b9820ce9 100644
--- a/src/Core/CoreClass.cpp
+++ b/src/Core/CoreClass.cpp
@@ -27,88 +27,88 @@
#include "RenderDelegate.h"
std::shared_ptr<mstk::Event::smEventHandler>
-smCoreClass::eventHandler = std::make_shared<mstk::Event::smEventHandler>();
+CoreClass::eventHandler = std::make_shared<mstk::Event::smEventHandler>();
-smCoreClass::smCoreClass() :
+CoreClass::CoreClass() :
name(""), listening(false)
{
drawOrder = core::ClassDrawOrder::BeforeObjects;
- uniqueId = std::make_shared<smUnifiedId>();
- renderDetail = std::make_shared<smRenderDetail>();
+ uniqueId = std::make_shared<UnifiedId>();
+ renderDetail = std::make_shared<RenderDetail>();
}
-smCoreClass::smCoreClass(const std::string &_name) :
+CoreClass::CoreClass(const std::string &_name) :
name(_name), listening(false)
{
drawOrder = core::ClassDrawOrder::BeforeObjects;
- uniqueId = std::make_shared<smUnifiedId>();
- renderDetail = std::make_shared<smRenderDetail>();
+ uniqueId = std::make_shared<UnifiedId>();
+ renderDetail = std::make_shared<RenderDetail>();
}
-const core::ClassType &smCoreClass::getType() const
+const core::ClassType &CoreClass::getType() const
{
return type;
}
-void smCoreClass::setType(const core::ClassType& newType)
+void CoreClass::setType(const core::ClassType& newType)
{
this->type = newType;
}
-void smCoreClass::initSimulate( const smSimulationParam &/*p_params*/ )
+void CoreClass::initSimulate( const smSimulationParam &/*p_params*/ )
{
std::cout << "Default initSimulate" << std::endl;
}
-void smCoreClass::simulate( const smSimulationParam &/*p_params*/ )
+void CoreClass::simulate( const smSimulationParam &/*p_params*/ )
{
std::cout << "Default simulate" << std::endl;
}
-void smCoreClass::print() const
+void CoreClass::print() const
{
std::cout << "Default print" << std::endl;
}
-void smCoreClass::handleEvent(std::shared_ptr< mstk::Event::smEvent > event)
+void CoreClass::handleEvent(std::shared_ptr< mstk::Event::Event > event)
{
std::cout << "Default handleEvent" << std::endl;
std::cout << "Sender " << int(event->getSender()) << std::endl;
std::cout << "Priority " << int(event->getPriority()) << std::endl;
- std::cout << "Type " << int(mstk::Event::smEvent::EventName) << std::endl;
+ std::cout << "Type " << int(mstk::Event::Event::EventName) << std::endl;
}
-void smCoreClass::setName( const std::string &p_objectName )
+void CoreClass::setName( const std::string &p_objectName )
{
name = p_objectName;
}
-const std::string &smCoreClass::getName() const
+const std::string &CoreClass::getName() const
{
return name;
}
/// \brief Get render delegate
-std::shared_ptr<smRenderDelegate> smCoreClass::getRenderDelegate() const
+std::shared_ptr<RenderDelegate> CoreClass::getRenderDelegate() const
{
return this->renderDelegate;
}
/// \brief Set the delegate used to render this instance
-void smCoreClass::setRenderDelegate(std::shared_ptr<smRenderDelegate> delegate)
+void CoreClass::setRenderDelegate(std::shared_ptr<RenderDelegate> delegate)
{
this->renderDelegate = delegate;
if (this->renderDelegate)
this->renderDelegate->setSourceGeometry(this);
}
-void smCoreClass::initDraw()
+void CoreClass::initDraw()
{
if (this->renderDelegate)
this->renderDelegate->initDraw();
}
-void smCoreClass::draw() const
+void CoreClass::draw() const
{
if (this->renderDelegate)
this->renderDelegate->draw();
diff --git a/src/Core/CoreClass.h b/src/Core/CoreClass.h
index 218f299efaf664e8735fdc355ebc3dca25793f9d..655b970cd4a368a67489a9e46e92a749020446aa 100644
--- a/src/Core/CoreClass.h
+++ b/src/Core/CoreClass.h
@@ -36,16 +36,16 @@
#include "EventHandler.h"
#include "Rendering/ConfigRendering.h"
-class smSDK;
-class smCoreClass;
-class smRenderDelegate;
-class smObjectSimulator;
+class SDK;
+class CoreClass;
+class RenderDelegate;
+class ObjectSimulator;
class smViewer;
/// \brief simulator calls object and sends this structure
struct smSimulationParam
{
- std::shared_ptr<smObjectSimulator> objectSimulator;
+ std::shared_ptr<ObjectSimulator> objectSimulator;
void *caller;
void *data;
};
@@ -70,10 +70,10 @@ public:
/// \brief core base class of all objects in framework
-class smCoreClass : public std::enable_shared_from_this<smCoreClass>
+class CoreClass : public std::enable_shared_from_this<CoreClass>
{
public:
- using Pointer = std::shared_ptr<smCoreClass>;
+ using Pointer = std::shared_ptr<CoreClass>;
static std::shared_ptr<mstk::Event::smEventHandler> eventHandler;
@@ -81,12 +81,12 @@ public:
///
/// \brief Default constructor
///
- smCoreClass();
+ CoreClass();
///
/// \brief Default constructor
///
- smCoreClass(const std::string &);
+ CoreClass(const std::string &);
///
/// \brief get type of the class
@@ -128,7 +128,7 @@ public:
/// This function is called by the event handler after observing
/// events.
///
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent>);
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event>);
///
/// \brief set the name of object
@@ -202,20 +202,20 @@ public:
///
/// \brief Get the unique id of this object
///
- std::shared_ptr<smUnifiedId> getUniqueId() {return uniqueId;}
+ std::shared_ptr<UnifiedId> getUniqueId() {return uniqueId;}
/// \brief Get render detail
- std::shared_ptr<smRenderDetail> getRenderDetail() const
+ std::shared_ptr<RenderDetail> getRenderDetail() const
{return renderDetail;}
/// \brief Set the render details (properties affecting visual depiction)
- void setRenderDetail(std::shared_ptr<smRenderDetail> newRenderDetail)
+ void setRenderDetail(std::shared_ptr<RenderDetail> newRenderDetail)
{ this->renderDetail = newRenderDetail; }
- std::shared_ptr<smRenderDelegate> getRenderDelegate() const;
- void setRenderDelegate(std::shared_ptr<smRenderDelegate> delegate);
+ std::shared_ptr<RenderDelegate> getRenderDelegate() const;
+ void setRenderDelegate(std::shared_ptr<RenderDelegate> delegate);
- void attachEvent(const mstk::Event::EventType &eventType, std::shared_ptr<smCoreClass> component)
+ void attachEvent(const mstk::Event::EventType &eventType, std::shared_ptr<CoreClass> component)
{
eventHandler->attachEvent(eventType,component);
}
@@ -238,18 +238,12 @@ protected:
std::map<
mstk::Event::EventType,
mstk::Event::smEventHandler::FunctionContainerType::iterator> eventIndexMap;
- std::shared_ptr<smRenderDelegate> renderDelegate; ///!< Class that can render this class
+ std::shared_ptr<RenderDelegate> renderDelegate; ///!< Class that can render this class
private:
- std::shared_ptr<smUnifiedId> uniqueId; ///< unique Id
- std::shared_ptr<smRenderDetail> renderDetail; ///< specifies visualization type
+ std::shared_ptr<UnifiedId> uniqueId; ///< unique Id
+ std::shared_ptr<RenderDetail> renderDetail; ///< specifies visualization type
core::ClassDrawOrder drawOrder; ///< draw order of the object
};
-/// \brief for future use
-class interface : public smCoreClass
-{
-
-};
-
#endif
diff --git a/src/Core/DataStructures.h b/src/Core/DataStructures.h
index 80e8b78f6e4717da12c7230f4250fa0393a7991e..198c88d17ff53153f657e6ee23c09ef173492ec6 100644
--- a/src/Core/DataStructures.h
+++ b/src/Core/DataStructures.h
@@ -28,11 +28,11 @@
#include "Config.h"
template<typename T>
-class smIndiceArrayIter;
+class IndiceArrayIter;
/// \brief inidice array for fast access to index
template<typename T>
-class smIndiceArray
+class IndiceArray
{
protected:
/// \brief storage
@@ -47,9 +47,9 @@ protected:
int maxStorage;
public:
/// \brief destructor
- ~smIndiceArray();
+ ~IndiceArray();
/// \brief constructor; gets maximum number of elements
- inline smIndiceArray(int p_maxStorage);
+ inline IndiceArray(int p_maxStorage);
/// \brief add item
inline int add(T p_item);
/// \brief check if the item exists, if not add
@@ -66,7 +66,7 @@ public:
/// \brief get element by reference with string
inline T& getByRef(std::string p_string);
/// \brief for iterative access
- friend smIndiceArrayIter<T>;
+ friend IndiceArrayIter<T>;
/// \brief print the elements
inline void print() const;
/// \brief operators
@@ -74,18 +74,18 @@ public:
inline int size();
/// \brief copy from another p_array
- inline bool copy(smIndiceArray &p_array);
+ inline bool copy(IndiceArray &p_array);
};
/// \brief iteration
template<class T>
-class smIndiceArrayIter
+class IndiceArrayIter
{
int index;
- smIndiceArray<T> *arrayPtr;
+ IndiceArray<T> *arrayPtr;
public:
/// \brief constructor that require index array
- smIndiceArrayIter(smIndiceArray<T> *p_array);
+ IndiceArrayIter(IndiceArray<T> *p_array);
/// \brief operators for accessing and iteration
T& operator[](int p_index);
diff --git a/src/Core/DataStructures.hpp b/src/Core/DataStructures.hpp
index 05969de8811c7861d7f5b559b2f5b8099973bec7..80c567fe41a4a671395d83c78869af392fbf2cb3 100644
--- a/src/Core/DataStructures.hpp
+++ b/src/Core/DataStructures.hpp
@@ -25,14 +25,14 @@
#define SMDATASTUCTURES_HPP
template<typename T>
-smIndiceArray<T>::~smIndiceArray()
+IndiceArray<T>::~IndiceArray()
{
delete [] indices;
delete [] storage;
delete [] isEmpty;
}
template<typename T>
-smIndiceArray<T>::smIndiceArray( int p_maxStorage )
+IndiceArray<T>::IndiceArray( int p_maxStorage )
{
maxStorage = p_maxStorage;
indices = new int[p_maxStorage];
@@ -47,7 +47,7 @@ smIndiceArray<T>::smIndiceArray( int p_maxStorage )
nbrElements = 0;
}
template<typename T> int
-smIndiceArray<T>::add( T p_item )
+IndiceArray<T>::add( T p_item )
{
int index = -1;
@@ -75,7 +75,7 @@ smIndiceArray<T>::add( T p_item )
return index;
}
template<typename T> int
-smIndiceArray<T>::checkAndAdd( T p_item )
+IndiceArray<T>::checkAndAdd( T p_item )
{
int index = -1;
@@ -93,7 +93,7 @@ smIndiceArray<T>::checkAndAdd( T p_item )
return index;
}
template<typename T> bool
-smIndiceArray<T>::remove( int p_itemIndex )
+IndiceArray<T>::remove( int p_itemIndex )
{
int counter = 0;
@@ -120,7 +120,7 @@ smIndiceArray<T>::remove( int p_itemIndex )
}
}
template<typename T> bool
-smIndiceArray<T>::replace( int p_index, T &p_item )
+IndiceArray<T>::replace( int p_index, T &p_item )
{
if ( isEmpty[p_index] == false )
{
@@ -131,12 +131,12 @@ smIndiceArray<T>::replace( int p_index, T &p_item )
return false;
}
template<typename T>
-T &smIndiceArray<T>::getByRef( int p_index )
+T &IndiceArray<T>::getByRef( int p_index )
{
return storage[p_index];
}
template<typename T> bool
-smIndiceArray<T>::getByRefSafe( int p_index, T &p_item )
+IndiceArray<T>::getByRefSafe( int p_index, T &p_item )
{
if ( isEmpty[p_index] )
{
@@ -149,7 +149,7 @@ smIndiceArray<T>::getByRefSafe( int p_index, T &p_item )
}
}
template<typename T>
-T &smIndiceArray<T>::getByRef( std::string p_string )
+T &IndiceArray<T>::getByRef( std::string p_string )
{
for ( int i = 0; i < nbrElements; i++ )
{
@@ -160,7 +160,7 @@ T &smIndiceArray<T>::getByRef( std::string p_string )
}
}
template<typename T> void
-smIndiceArray<T>::print() const
+IndiceArray<T>::print() const
{
for ( int i = 0; i < nbrElements; i++ )
{
@@ -168,17 +168,17 @@ smIndiceArray<T>::print() const
}
}
template<typename T>
-T &smIndiceArray<T>::operator[]( int p_index )
+T &IndiceArray<T>::operator[]( int p_index )
{
return storage[indices[p_index]];
}
template<typename T> int
-smIndiceArray<T>::size()
+IndiceArray<T>::size()
{
return nbrElements;
}
template<typename T> bool
-smIndiceArray<T>::copy( smIndiceArray &p_array )
+IndiceArray<T>::copy( IndiceArray &p_array )
{
if ( maxStorage < p_array.maxStorage )
{
@@ -201,43 +201,43 @@ smIndiceArray<T>::copy( smIndiceArray &p_array )
}
template<typename T>
-smIndiceArrayIter<T>::smIndiceArrayIter( smIndiceArray< T > *p_array )
+IndiceArrayIter<T>::IndiceArrayIter( IndiceArray< T > *p_array )
{
arrayPtr = p_array;
}
template<typename T>
-T &smIndiceArrayIter<T>::operator[]( int p_index )
+T &IndiceArrayIter<T>::operator[]( int p_index )
{
return arrayPtr->storage[ arrayPtr->indices[p_index]];
}
template<typename T> int&
-smIndiceArrayIter<T>::operator++()
+IndiceArrayIter<T>::operator++()
{
return ++index;
}
template<typename T> int
-smIndiceArrayIter<T>::operator++( const int )
+IndiceArrayIter<T>::operator++( const int )
{
return index++;
}
template<typename T> int&
-smIndiceArrayIter<T>::operator--()
+IndiceArrayIter<T>::operator--()
{
return --index;
}
template<typename T> int
-smIndiceArrayIter<T>::operator--( const int )
+IndiceArrayIter<T>::operator--( const int )
{
return index--;
}
template<typename T> int
-smIndiceArrayIter<T>::begin()
+IndiceArrayIter<T>::begin()
{
index = 0;
return index;
}
template<typename T> int
-smIndiceArrayIter<T>::end()
+IndiceArrayIter<T>::end()
{
return arrayPtr->nbrElements;
}
diff --git a/src/Core/Dispatcher.cpp b/src/Core/Dispatcher.cpp
index 002a70b90de64ad568f66cdd88224cf4811fd04b..93db05bd455b494425304d11e6422662dedb96c6 100644
--- a/src/Core/Dispatcher.cpp
+++ b/src/Core/Dispatcher.cpp
@@ -24,22 +24,22 @@
#include "Dispatcher.h"
-void smDispatcher::handleViewer(std::shared_ptr<smCoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
+void Dispatcher::handleViewer(std::shared_ptr<CoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
{
}
-void smDispatcher::handleSimulator(std::shared_ptr<smCoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
+void Dispatcher::handleSimulator(std::shared_ptr<CoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
{
}
-void smDispatcher::handleCollisionDetection(std::shared_ptr<smCoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
+void Dispatcher::handleCollisionDetection(std::shared_ptr<CoreClass> /*p_caller*/, core::CallerState /*p_callerState*/)
{
}
-void smDispatcher::handleAll()
+void Dispatcher::handleAll()
{
}
@@ -48,7 +48,7 @@ void smDispatcher::handleAll()
/// \param p_caller p_caller has pointer to the object which the function is called
/// \param p_callerState p_callerState is stores the state of the at the moment of the function called.
/// such as whether it is the beginning of the simulator frameor end of the simulator frame for now etc..
-core::ResultDispatcher smDispatcher::handle(std::shared_ptr<smCoreClass> p_caller, core::CallerState p_callerState)
+core::ResultDispatcher Dispatcher::handle(std::shared_ptr<CoreClass> p_caller, core::CallerState p_callerState)
{
core::ClassType classType;
@@ -77,7 +77,7 @@ core::ResultDispatcher smDispatcher::handle(std::shared_ptr<smCoreClass> p_calle
handleAll();
return core::ResultDispatcher::Success;
}
-smDispatcher::smDispatcher()
+Dispatcher::Dispatcher()
{
type = core::ClassType::Dispathcer;
}
diff --git a/src/Core/Dispatcher.h b/src/Core/Dispatcher.h
index e4aaa0a993e453318191d9a067eecbade43f7d62..840fb2c43807518c72ab87b7183c99d91a6d43e0 100644
--- a/src/Core/Dispatcher.h
+++ b/src/Core/Dispatcher.h
@@ -31,30 +31,30 @@
///The dispacther class is responsible of taking care of the
///tasks that need to proppgated over the whole modules.For instance, adding a new
///phyiscs at run-time
-class smDispatcher: public smCoreClass
+class Dispatcher: public CoreClass
{
private:
///handle viewer events
/// \param p_caller this is the caller class
/// \param p_callerState it indicates the state of the called which is predefined at the smConfig.h
- void handleViewer(std::shared_ptr<smCoreClass> p_caller, core::CallerState p_callerState);
+ void handleViewer(std::shared_ptr<CoreClass> p_caller, core::CallerState p_callerState);
///handle simulator events
- void handleSimulator(std::shared_ptr<smCoreClass> p_caller, core::CallerState p_callerState);
+ void handleSimulator(std::shared_ptr<CoreClass> p_caller, core::CallerState p_callerState);
///handle collision detection events
- void handleCollisionDetection(std::shared_ptr<smCoreClass> p_caller, core::CallerState p_callerState);
+ void handleCollisionDetection(std::shared_ptr<CoreClass> p_caller, core::CallerState p_callerState);
///handle all events
void handleAll();
public:
- smDispatcher();
+ Dispatcher();
public:
///handle all event and call corresponding events
- core::ResultDispatcher handle(std::shared_ptr<smCoreClass> p_caller, core::CallerState p_callerState);
+ core::ResultDispatcher handle(std::shared_ptr<CoreClass> p_caller, core::CallerState p_callerState);
};
diff --git a/src/Core/DisplayText.cpp b/src/Core/DisplayText.cpp
index 496a7ee15be5ff93d98491ea5a8fb1c70fbe937a..9914be06da75aacd3e7646dcb764d0e6aa735f2d 100644
--- a/src/Core/DisplayText.cpp
+++ b/src/Core/DisplayText.cpp
@@ -29,7 +29,7 @@
// SimMedTK includes
-void smDisplayText::addText ( smDisplayMessage message )
+void DisplayText::addText ( DisplayMessage message )
{
switch ( message.outputStream )
{
diff --git a/src/Core/DisplayText.h b/src/Core/DisplayText.h
index 7729a07c7645bf531481d12e03f5beddf4e3a645..4a99794c1455f80985e3bd178eb4b39dba456912 100644
--- a/src/Core/DisplayText.h
+++ b/src/Core/DisplayText.h
@@ -37,7 +37,7 @@ enum SMDISPLAY_STREAM
};
/// \brief message type
-struct smDisplayMessage
+struct DisplayMessage
{
/// \brief text to display
std::string text;
@@ -51,11 +51,11 @@ struct smDisplayMessage
};
/// \brief display text class console, window, error log etc.
-class smDisplayText: smCoreClass
+class DisplayText: CoreClass
{
public:
- smDisplayText();
- void addText(smDisplayMessage message);
+ DisplayText();
+ void addText(DisplayMessage message);
};
#endif
diff --git a/src/Core/ErrorLog.cpp b/src/Core/ErrorLog.cpp
index 05328d072f8f199abe86a3ff09b4f7e1cd8e17cc..dfc1ede97d1fbcb62251c03d6176b6077c621c65 100644
--- a/src/Core/ErrorLog.cpp
+++ b/src/Core/ErrorLog.cpp
@@ -27,14 +27,14 @@
#include <string>
#include <chrono>
-smErrorLog::smErrorLog()
+ErrorLog::ErrorLog()
{
time.start();
consoleOutput = true;
}
-bool smErrorLog::addError(const std::string& p_text)
+bool ErrorLog::addError(const std::string& p_text)
{
if (0 >= p_text.length())
{
@@ -60,7 +60,7 @@ bool smErrorLog::addError(const std::string& p_text)
}
///Clean up all the errors in the repository.It is thread safe.
-void smErrorLog::cleanAllErrors()
+void ErrorLog::cleanAllErrors()
{
std::lock_guard<std::mutex> lock(logLock); //Lock is released when leaves scope
errors.clear();
@@ -68,19 +68,19 @@ void smErrorLog::cleanAllErrors()
}
///Print the last error.It is not thread safe.
-void smErrorLog::printLastErrUnsafe()
+void ErrorLog::printLastErrUnsafe()
{
std::cout << "Last Error:" << errors.back() << " Time:" << timeStamps.back() << " ms" << "\n";
}
///Print the last error in Thread Safe manner.
-void smErrorLog::printLastErr()
+void ErrorLog::printLastErr()
{
std::lock_guard<std::mutex> lock(logLock); //Lock is released when leaves scope
printLastErr();
}
-void smErrorLog::setConsoleOutput(bool flag)
+void ErrorLog::setConsoleOutput(bool flag)
{
consoleOutput = flag;
}
diff --git a/src/Core/ErrorLog.h b/src/Core/ErrorLog.h
index a1abc5166603bc1be73256027ae4ac099d5829db..96a1002c4a33686db2f364f6a4b1878dc62225a2 100644
--- a/src/Core/ErrorLog.h
+++ b/src/Core/ErrorLog.h
@@ -41,19 +41,19 @@
/// \brief This is class is for error logging of the whole SimMedTK system.
/// All errors should be reported to the instance of this class.
/// Functions are thread-safe unless indicated.
-class smErrorLog : public smCoreClass
+class ErrorLog : public CoreClass
{
private:
std::vector<std::string> errors; ///< error messages
std::vector<int> timeStamps; ///< time stamps for errors
std::mutex logLock; ///< mutex to sync access to logs
- smTimer time; ///< Timer for timestamps
+ Timer time; ///< Timer for timestamps
bool consoleOutput; ///< Flag to print errors to stdout
public:
bool isOutputtoConsoleEnabled;
- smErrorLog();
+ ErrorLog();
/// \brief Add the error in the repository.It is thread safe. It can be called by multiple threads.
///
diff --git a/src/Core/Event.cpp b/src/Core/Event.cpp
index cb735cebd938924e55365ee12b2bf8a3f839a70c..c9dd4e7230e39e9dbcb9c0094b2a04b78e589c2c 100644
--- a/src/Core/Event.cpp
+++ b/src/Core/Event.cpp
@@ -26,33 +26,33 @@
namespace mstk {
namespace Event {
-EventType smEvent::EventName = EventType::None;
+EventType Event::EventName = EventType::None;
-smEvent::smEvent(): priority(EventPriority::Normal), sender(EventSender::Other), enabled(true) {}
+Event::Event(): priority(EventPriority::Normal), sender(EventSender::Other), enabled(true) {}
-smEvent::~smEvent() {}
+Event::~Event() {}
-void smEvent::setPriority(const EventPriority& eventPriority)
+void Event::setPriority(const EventPriority& eventPriority)
{
this->priority = eventPriority;
}
-const EventPriority& smEvent::getPriority()
+const EventPriority& Event::getPriority()
{
return this->priority;
}
-void smEvent::setSender(const EventSender& eventSender)
+void Event::setSender(const EventSender& eventSender)
{
this->sender = eventSender;
}
-const EventSender& smEvent::getSender()
+const EventSender& Event::getSender()
{
return this->sender;
}
-void smEvent::setEnabled(const bool& eventEnabled)
+void Event::setEnabled(const bool& eventEnabled)
{
this->enabled = eventEnabled;
}
-const bool& smEvent::getEnabled()
+const bool& Event::getEnabled()
{
return this->enabled;
}
diff --git a/src/Core/Event.h b/src/Core/Event.h
index c92602969d9a6552d156de8b59a424ba93186ca1..6406b717662ec66515fc5d9eb87c4f5f1248de6c 100644
--- a/src/Core/Event.h
+++ b/src/Core/Event.h
@@ -71,17 +71,17 @@ enum class EventSender
/// @brief Base event class
/// Base class from which all events should derive.
///
-class smEvent
+class Event
{
public:
- using Pointer = std::shared_ptr<smEvent>;
+ using Pointer = std::shared_ptr<Event>;
public:
static EventType EventName;
public:
- smEvent();
- virtual ~smEvent();
+ Event();
+ virtual ~Event();
void setPriority(const EventPriority &eventPriority);
diff --git a/src/Core/EventHandler.cpp b/src/Core/EventHandler.cpp
index 56352e81037a330edc20d36a71615bbbea57d12f..085ec254493cc6134115d00c262800a109f646be 100644
--- a/src/Core/EventHandler.cpp
+++ b/src/Core/EventHandler.cpp
@@ -27,11 +27,11 @@
namespace mstk {
namespace Event {
-void smEventHandler::attachEvent(const EventType& eventType, std::shared_ptr<smCoreClass> component)
+void smEventHandler::attachEvent(const EventType& eventType, std::shared_ptr<CoreClass> component)
{
- // Bind handleEvent to a void(std::shared_ptr<smEvent>) function
- std::function<void(std::shared_ptr<smEvent>)>
- fn = std::bind(&smCoreClass::handleEvent,component,std::placeholders::_1);
+ // Bind handleEvent to a void(std::shared_ptr<Event>) function
+ std::function<void(std::shared_ptr<Event>)>
+ fn = std::bind(&CoreClass::handleEvent,component,std::placeholders::_1);
// Register the function and return index
FunctionContainerType::iterator index = this->registerEvent(eventType, fn);
@@ -39,13 +39,13 @@ void smEventHandler::attachEvent(const EventType& eventType, std::shared_ptr<smC
// Add index to the component observer
component->setEventIndex(eventType,index);
}
-void smEventHandler::detachEvent(const EventType& eventType, std::shared_ptr<smCoreClass> component)
+void smEventHandler::detachEvent(const EventType& eventType, std::shared_ptr<CoreClass> component)
{
auto index = component->getEventIndex(eventType);
this->unregisterEvent(eventType,index);
component->removeEventIndex(eventType);
}
-bool smEventHandler::isAttached(const EventType& eventType, std::shared_ptr<smCoreClass> component)
+bool smEventHandler::isAttached(const EventType& eventType, std::shared_ptr<CoreClass> component)
{
auto index = component->getEventIndex(eventType);
diff --git a/src/Core/EventHandler.h b/src/Core/EventHandler.h
index 4600ce7c1b774e6135cb890b04411bb21d79529c..65666f2107562e12503f759a7b910ec4877ae07c 100644
--- a/src/Core/EventHandler.h
+++ b/src/Core/EventHandler.h
@@ -35,7 +35,7 @@
// SimMedTK includes
#include "Event.h"
-class smCoreClass;
+class CoreClass;
namespace mstk {
namespace Event {
@@ -47,14 +47,14 @@ namespace Event {
/// https://juanchopanzacpp.wordpress.com/2013/02/24/simple-observer-pattern-implementation-c11/
///
/// The only requirement is that the observer function to bind has
-/// the following signature: void handleEvent(std::shared_ptr<mstk::Event::smEvent> e)
-/// This means that anything inheriting from the smCoreClass can be
+/// the following signature: void handleEvent(std::shared_ptr<mstk::Event::Event> e)
+/// This means that anything inheriting from the CoreClass can be
/// binded to an event.
///
class smEventHandler
{
public:
- using FunctionType = std::function<void ( std::shared_ptr<smEvent> )>;
+ using FunctionType = std::function<void ( std::shared_ptr<Event> )>;
using FunctionContainerType = std::list<FunctionType>;
public:
@@ -96,9 +96,9 @@ public:
///
/// @brief Triger all events correspontding to the event name (EventType::EventName).
- /// @param event Event to be triggered, see @smEvent and derived classes.
+ /// @param event Event to be triggered, see @Event and derived classes.
///
- /// @tparam EventObserverType The event that trigges evaluation, child class of smEvent.
+ /// @tparam EventObserverType The event that trigges evaluation, child class of Event.
///
/// @Note If EventType::EventName is not a key in the event map, then an insertion is
/// automatically performed.
@@ -117,21 +117,21 @@ public:
/// @param eventType Event name
/// @param component Listener (or observer) of triggered events to attach
///
- void attachEvent ( const EventType& eventType, std::shared_ptr<smCoreClass> component );
+ void attachEvent ( const EventType& eventType, std::shared_ptr<CoreClass> component );
///
/// @brief Helper function to facilitate detachment of events.
/// @param eventType Event name
/// @param component Listener (or observer) of triggered events to detach
///
- void detachEvent ( const EventType& eventType, std::shared_ptr<smCoreClass> component );
+ void detachEvent ( const EventType& eventType, std::shared_ptr<CoreClass> component );
///
/// @brief Verify if the event has been stored.
/// @param eventType Event name
/// @param component Listener (or observer) of triggered events to detach
///
- bool isAttached( const EventType& eventType, std::shared_ptr<smCoreClass> component );
+ bool isAttached( const EventType& eventType, std::shared_ptr<CoreClass> component );
///
/// @brief Verify if the event has been stored.
diff --git a/src/Core/Factory.h b/src/Core/Factory.h
index 558a29e714b24ecfa0c730b2b09f2bfc21053eb8..d261da6ce376c836f600aaa4a05c0d008e1f900a 100644
--- a/src/Core/Factory.h
+++ b/src/Core/Factory.h
@@ -7,7 +7,7 @@
#include <set>
#include <string>
-/**\brief A macro to register a concrete subclass of an abstract base class with smFactory.
+/**\brief A macro to register a concrete subclass of an abstract base class with Factory.
*
* A macro to help register a concrete subclass with a factory.
* It should be called inside dynamic loader macros like so:
@@ -26,17 +26,17 @@
* during your application's startup.
*
* This macro should only be used outside of the smCore library;
- * inside smCore, just modify smFactory so that s_catalog is
+ * inside smCore, just modify Factory so that s_catalog is
* initialized with the proper entries directly. That's because
- * inside smCore, smFactory::s_catalog might not be initialized
+ * inside smCore, Factory::s_catalog might not be initialized
* before the first registration call is made.
*
* A more specific example is the way the smRendering library
- * registers the smViewer class as a concrete child of smViewerBase:
+ * registers the smViewer class as a concrete child of ViewerBase:
* <pre>
* SIMMEDTK_BEGIN_DYNAMIC_LOADER()
* SIMMEDTK_BEGIN_ONLOAD(register_viewer_children)
- * SIMMEDTK_REGISTER_CLASS(smCoreClass,smViewerBase,smViewer,0);
+ * SIMMEDTK_REGISTER_CLASS(CoreClass,ViewerBase,smViewer,0);
* SIMMEDTK_FINISH_ONLOAD()
* SIMMEDTK_FINISH_DYNAMIC_LOADER()
* </pre>
@@ -47,7 +47,7 @@
* at startup.
*/
#define SIMMEDTK_REGISTER_CLASS(BASECLASS,TARGETCLASS,SUBCLASS,GROUP) \
- smFactory<BASECLASS>::registerClassConfiguration( \
+ Factory<BASECLASS>::registerClassConfiguration( \
#TARGETCLASS, \
#SUBCLASS, \
[]() { return std::shared_ptr<BASECLASS>(new SUBCLASS); }, \
@@ -56,7 +56,7 @@
/**\brief A factory provides a way to discover and construct subclasses of abstract classes.
*
* Concrete subclasses of abstract bases should call
- * smFactory::registerClassConfiguration() in an initializer
+ * Factory::registerClassConfiguration() in an initializer
* function.
* Once this is done, the abstract class name can be
* used as a key to fetch a list of possible subclasses
@@ -79,13 +79,13 @@
* above text rendering.
*/
template<typename T>
-class smFactory
+class Factory
{
public:
- /// A function object whose signature returns a shared pointer to an smCoreClass instance.
+ /// A function object whose signature returns a shared pointer to an CoreClass instance.
typedef std::function<std::shared_ptr<T>()> SharedPointerConstructor;
- /// An internal structure used by smFactory to track subclasses of abstract classes.
+ /// An internal structure used by Factory to track subclasses of abstract classes.
struct smFactoryEntry
{
std::string subclassname;
diff --git a/src/Core/Factory.hpp b/src/Core/Factory.hpp
index 4d8b611f6516bb078d0b52e4988f3400258eab29..e5c6ed3bccf5029634baa859cbdc830fab70918c 100644
--- a/src/Core/Factory.hpp
+++ b/src/Core/Factory.hpp
@@ -4,7 +4,7 @@
#include <stdlib.h> // for atexit()
template<typename T>
-void smFactory<T>::registerClassConfiguration(
+void Factory<T>::registerClassConfiguration(
const std::string& classname,
const std::string& subclassname,
SharedPointerConstructor ctor,
@@ -13,39 +13,39 @@ void smFactory<T>::registerClassConfiguration(
if (classname.empty())
return;
- if (!smFactory::s_catalog)
+ if (!Factory::s_catalog)
{
- smFactory::s_catalog =
- new std::map<std::string, typename smFactory<T>::smFactoryConfigurationOptions>;
- atexit( []() { delete smFactory::s_catalog; } );
+ Factory::s_catalog =
+ new std::map<std::string, typename Factory<T>::smFactoryConfigurationOptions>;
+ atexit( []() { delete Factory::s_catalog; } );
}
smFactoryEntry entry;
entry.subclassname = subclassname;
entry.constructor = ctor;
entry.group = group;
- (*smFactory::s_catalog)[classname].insert(entry);
+ (*Factory::s_catalog)[classname].insert(entry);
}
template<typename T>
-const typename smFactory<T>::smFactoryConfigurationOptions& smFactory<T>::optionsForClass(const std::string& classname)
+const typename Factory<T>::smFactoryConfigurationOptions& Factory<T>::optionsForClass(const std::string& classname)
{
static smFactoryConfigurationOptions emptyOptions;
- if (!smFactory::s_catalog)
+ if (!Factory::s_catalog)
return emptyOptions;
typename std::map<std::string, smFactoryConfigurationOptions>::const_iterator it;
- if (classname.empty() || (it = smFactory::s_catalog->find(classname)) == smFactory::s_catalog->end())
+ if (classname.empty() || (it = Factory::s_catalog->find(classname)) == Factory::s_catalog->end())
return emptyOptions;
return it->second;
}
template<typename T>
-std::shared_ptr<T> smFactory<T>::createDefault(
+std::shared_ptr<T> Factory<T>::createDefault(
const std::string& classname)
{
const smFactoryConfigurationOptions& opts(
- smFactory::optionsForClass(classname));
+ Factory::optionsForClass(classname));
if (opts.empty())
return std::shared_ptr<T>();
//std::cout << "Creating default " << classname << ", " << opts.begin()->subclassname << "\n";
@@ -53,12 +53,12 @@ std::shared_ptr<T> smFactory<T>::createDefault(
}
template<typename T>
-std::shared_ptr<T> smFactory<T>::createSubclass(
+std::shared_ptr<T> Factory<T>::createSubclass(
const std::string& classname,
const std::string& subclassname)
{
const smFactoryConfigurationOptions& opts(
- smFactory::optionsForClass(classname));
+ Factory::optionsForClass(classname));
typename smFactoryConfigurationOptions::const_iterator it;
for (it = opts.begin(); it != opts.end(); ++it)
@@ -78,15 +78,15 @@ std::shared_ptr<T> smFactory<T>::createSubclass(
* class.
*/
template<typename T>
-std::shared_ptr<T> smFactory<T>::createConcreteClass(
+std::shared_ptr<T> Factory<T>::createConcreteClass(
const std::string& classname)
{
- if (classname.empty() || !smFactory::s_catalog)
+ if (classname.empty() || !Factory::s_catalog)
return std::shared_ptr<T>();
typename std::map<std::string, smFactoryConfigurationOptions>::const_iterator bit;
typename smFactoryConfigurationOptions::const_iterator cit;
- for (bit = smFactory::s_catalog->begin(); bit != smFactory::s_catalog->end(); ++bit)
+ for (bit = Factory::s_catalog->begin(); bit != Factory::s_catalog->end(); ++bit)
for (cit = bit->second.begin(); cit != bit->second.end(); ++cit)
if (cit->subclassname == classname)
{
@@ -98,12 +98,12 @@ std::shared_ptr<T> smFactory<T>::createConcreteClass(
}
template<typename T>
-std::shared_ptr<T> smFactory<T>::createSubclassForGroup(
+std::shared_ptr<T> Factory<T>::createSubclassForGroup(
const std::string& classname,
int group)
{
const smFactoryConfigurationOptions& opts(
- smFactory::optionsForClass(classname));
+ Factory::optionsForClass(classname));
typename smFactoryConfigurationOptions::const_iterator it;
for (it = opts.begin(); it != opts.end(); ++it)
@@ -118,6 +118,6 @@ std::shared_ptr<T> smFactory<T>::createSubclassForGroup(
/// Class-static map from abstract class names to registered concrete children.
template<typename T>
-std::map<std::string, typename smFactory<T>::smFactoryConfigurationOptions>* smFactory<T>::s_catalog = NULL;
+std::map<std::string, typename Factory<T>::smFactoryConfigurationOptions>* Factory<T>::s_catalog = NULL;
#endif // SMFACTORY_HPP
diff --git a/src/Core/Geometry.cpp b/src/Core/Geometry.cpp
index 468f35f01bc68a77d3c9c9959042b81020ef576b..3d1e38429777007b1d754d260147b09c575fd456 100644
--- a/src/Core/Geometry.cpp
+++ b/src/Core/Geometry.cpp
@@ -27,26 +27,26 @@
#include "Geometry.h"
#include "RenderDelegate.h"
-smAABB::smAABB()
+AABB::AABB()
{
this->reset();
this->renderDelegate =
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"AABBRenderDelegate");
if (this->renderDelegate)
this->renderDelegate->setSourceGeometry(this);
}
-smVec3d smAABB::center() const
+core::Vec3d AABB::center() const
{
- smVec3d output;
+ core::Vec3d output;
output << 0.5f * ( this->aabbMin[0] + this->aabbMax[0] ),
0.5f * ( this->aabbMin[1] + this->aabbMax[1] ),
0.5f * ( this->aabbMin[2] + this->aabbMax[2] );
return output;
}
-bool smAABB::checkOverlap( const smAABB &p_aabbA, const smAABB &p_aabbB )
+bool AABB::checkOverlap( const AABB &p_aabbA, const AABB &p_aabbB )
{
if ( p_aabbA.aabbMin[0] > p_aabbB.aabbMax[0] ||
@@ -61,7 +61,7 @@ bool smAABB::checkOverlap( const smAABB &p_aabbA, const smAABB &p_aabbB )
return true;
}
-bool smAABB::overlaps( const smAABB &other ) const
+bool AABB::overlaps( const AABB &other ) const
{
if ( this->aabbMin[0] > other.aabbMax[0] ||
@@ -76,21 +76,21 @@ bool smAABB::overlaps( const smAABB &other ) const
return true;
}
-const smAABB &smAABB::operator=( const smAABB &p_aabb )
+const AABB &AABB::operator=( const AABB &p_aabb )
{
this->aabbMax = p_aabb.aabbMax;
this->aabbMin = p_aabb.aabbMin;
return *this;
}
-smAABB &smAABB::operator*( const double p_scale )
+AABB &AABB::operator*( const double p_scale )
{
this->aabbMin *= p_scale;
this->aabbMax *= p_scale;
return *this;
}
-void smAABB::subDivide( const double p_length, const int p_divison, smAABB *p_aabb ) const
+void AABB::subDivide( const double p_length, const int p_divison, AABB *p_aabb ) const
{
int index = 0;
@@ -109,7 +109,7 @@ void smAABB::subDivide( const double p_length, const int p_divison, smAABB *p_aa
}
}
-void smAABB::subDivide( const int p_divisionX, const int p_divisionY, const int p_divisionZ, smAABB *p_aabb ) const
+void AABB::subDivide( const int p_divisionX, const int p_divisionY, const int p_divisionZ, AABB *p_aabb ) const
{
double stepX;
double stepY;
@@ -136,41 +136,41 @@ void smAABB::subDivide( const int p_divisionX, const int p_divisionY, const int
}
}
-void smAABB::subDivide( const int p_division, smAABB *p_aabb ) const
+void AABB::subDivide( const int p_division, AABB *p_aabb ) const
{
subDivide( p_division, p_division, p_division, p_aabb );
}
-double smAABB::halfSizeX() const
+double AABB::halfSizeX() const
{
return .5 * ( aabbMax[0] - aabbMin[0] );
}
-double smAABB::halfSizeY() const
+double AABB::halfSizeY() const
{
return .5 * ( aabbMax[1] - aabbMin[1] );
}
-double smAABB::halfSizeZ() const
+double AABB::halfSizeZ() const
{
return .5 * ( aabbMax[2] - aabbMin[2] );
}
-void smAABB::expand( const double &p_factor )
+void AABB::expand( const double &p_factor )
{
this->aabbMin -= .5 * ( this->aabbMax - this->aabbMin ) * p_factor;
this->aabbMax += .5 * ( this->aabbMax - this->aabbMin ) * p_factor;
}
-smCube::smCube()
+Cube::Cube()
{
center << 0, 0, 0;
sideLength = 1.0;
}
-void smCube::subDivide( int p_divisionPerAxis, smCube *p_cube )
+void Cube::subDivide( int p_divisionPerAxis, Cube *p_cube )
{
- smVec3d minPoint;
+ core::Vec3d minPoint;
double divLength = ( sideLength / p_divisionPerAxis );
int index = 0;
minPoint << center[0] - sideLength * 0.5,
@@ -191,36 +191,36 @@ void smCube::subDivide( int p_divisionPerAxis, smCube *p_cube )
}
}
-void smCube::expand( double p_expansion )
+void Cube::expand( double p_expansion )
{
sideLength = sideLength + sideLength * p_expansion;
}
-smVec3d smCube::leftMinCorner() const
+core::Vec3d Cube::leftMinCorner() const
{
- return smVec3d( center[0] - sideLength * 0.5,
+ return core::Vec3d( center[0] - sideLength * 0.5,
center[1] - sideLength * 0.5,
center[2] - sideLength * 0.5 );
}
-smVec3d smCube::rightMaxCorner() const
+core::Vec3d Cube::rightMaxCorner() const
{
- return smVec3d( center[0] + sideLength * 0.5,
+ return core::Vec3d( center[0] + sideLength * 0.5,
center[1] + sideLength * 0.5,
center[2] + sideLength * 0.5 );
}
-smSphere smCube::getCircumscribedSphere()
+Sphere Cube::getCircumscribedSphere()
{
- return smSphere( center, 0.866025 * sideLength );
+ return Sphere( center, 0.866025 * sideLength );
}
-smSphere smCube::getInscribedSphere()
+Sphere Cube::getInscribedSphere()
{
- return smSphere( center, sideLength * 0.5 );
+ return Sphere( center, sideLength * 0.5 );
}
-smSphere smCube::getTangent2EdgeSphere()
+Sphere Cube::getTangent2EdgeSphere()
{
- return smSphere( center, sideLength * 0.707106 );
+ return Sphere( center, sideLength * 0.707106 );
}
diff --git a/src/Core/Geometry.h b/src/Core/Geometry.h
index 35d601f0639b6524db0ea2545196b7a075aafd7e..d40c07ec335e50b880c8ed815bfc60d0cd1fac20 100644
--- a/src/Core/Geometry.h
+++ b/src/Core/Geometry.h
@@ -34,12 +34,12 @@
#include "RenderDelegate.h"
//forward declaration
-struct smSphere;
+struct Sphere;
-class smVisualArtifact
+class VisualArtifact
{
public:
- virtual void setRenderDelegate(smRenderDelegate::Ptr delegate)
+ virtual void setRenderDelegate(RenderDelegate::Ptr delegate)
{
this->renderDelegate = delegate;
if (delegate)
@@ -51,62 +51,62 @@ public:
this->renderDelegate->draw();
}
- smRenderDelegate::Ptr renderDelegate;
+ RenderDelegate::Ptr renderDelegate;
};
-class smAnalyticalGeometry : public smVisualArtifact
+class AnalyticalGeometry : public VisualArtifact
{
public:
- smAnalyticalGeometry(){}
- ~smAnalyticalGeometry(){}
+ AnalyticalGeometry(){}
+ ~AnalyticalGeometry(){}
- virtual void translate(const smVec3d &t) = 0;
- virtual void rotate(const smMatrix33d &rot) = 0;
+ virtual void translate(const core::Vec3d &t) = 0;
+ virtual void rotate(const Matrix33d &rot) = 0;
};
/// \brief Simple Plane definition with unit normal and spatial location
-class smPlane : public smAnalyticalGeometry
+class Plane : public AnalyticalGeometry
{
public:
- smPlane()
+ Plane()
{
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createSubclass(
+ Factory<RenderDelegate>::createSubclass(
"RenderDelegate", "PlaneRenderDelegate"));
}
- ~smPlane(){}
+ ~Plane(){}
/// \brief create a plane with point and unit normal
- smPlane(const smVec3d &p, const smVec3d &n)
+ Plane(const core::Vec3d &p, const core::Vec3d &n)
{
this->point = p;
this->unitNormal = n;
this->width = 100.0;
- this->drawPointsOrig[0] = smVec3d(width, 0, 0);
- this->drawPointsOrig[1] = smVec3d(0, width, 0);
- this->drawPointsOrig[2] = smVec3d(-width, 0, 0);
- this->drawPointsOrig[3] = smVec3d(0, -width, 0);
+ this->drawPointsOrig[0] = core::Vec3d(width, 0, 0);
+ this->drawPointsOrig[1] = core::Vec3d(0, width, 0);
+ this->drawPointsOrig[2] = core::Vec3d(-width, 0, 0);
+ this->drawPointsOrig[3] = core::Vec3d(0, -width, 0);
this->movedOrRotated = true;
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createSubclass(
+ Factory<RenderDelegate>::createSubclass(
"RenderDelegate", "PlaneRenderDelegate"));
}
- double distance(const smVec3d &p_vector)
+ double distance(const core::Vec3d &p_vector)
{
auto m = (p_vector - this->point).dot(this->unitNormal);
return m;
};
- smVec3d project(const smVec3d &p_vector)
+ core::Vec3d project(const core::Vec3d &p_vector)
{
return p_vector - ((this->point - p_vector)*this->unitNormal.transpose())*this->unitNormal;
};
- const smVec3d &getUnitNormal() const
+ const core::Vec3d &getUnitNormal() const
{
return this->unitNormal;
}
@@ -116,40 +116,40 @@ public:
this->movedOrRotated = s;
};
- void setUnitNormal(const smVec3d &normal)
+ void setUnitNormal(const core::Vec3d &normal)
{
this->unitNormal = normal;
this->movedOrRotated = true;
}
- const smVec3d &getPoint() const
+ const core::Vec3d &getPoint() const
{
return this->point;
}
- void setPoint(const smVec3d &p)
+ void setPoint(const core::Vec3d &p)
{
this->point = p;
this->movedOrRotated = true;
}
- void translate(const smVec3d &t)
+ void translate(const core::Vec3d &t)
{
this->point += t;
this->movedOrRotated = true;
}
- void rotate(const smMatrix33d &rot)
+ void rotate(const Matrix33d &rot)
{
this->unitNormal = rot * this->unitNormal;
this->movedOrRotated = true;
}
- void setDrawPoint(const smVec3d &p1, const smVec3d &p2, const smVec3d &p3, const smVec3d &p4)
+ void setDrawPoint(const core::Vec3d &p1, const core::Vec3d &p2, const core::Vec3d &p3, const core::Vec3d &p4)
{
this->drawPointsOrig[0] = p1;
this->drawPointsOrig[1] = p2;
@@ -166,12 +166,12 @@ public:
void updateDrawPoints()
{
- smVec3d ny = smVec3d(0.0, unitNormal[2], -unitNormal[1]);
- smVec3d nz = ny.cross(unitNormal);
+ core::Vec3d ny = core::Vec3d(0.0, unitNormal[2], -unitNormal[1]);
+ core::Vec3d nz = ny.cross(unitNormal);
ny.normalize();
nz.normalize();
- smMatrix33d R;
+ Matrix33d R;
R << this->unitNormal[0], ny[1], nz[2],
this->unitNormal[0], ny[1], nz[2],
this->unitNormal[0], ny[1], nz[2];
@@ -185,10 +185,10 @@ public:
private:
/// \brief unit normal of the plane
- smVec3d unitNormal;
+ core::Vec3d unitNormal;
/// \brief any point on the plane
- smVec3d point;
+ core::Vec3d point;
/// \brief true if the plane is static
bool movedOrRotated;
@@ -197,35 +197,35 @@ private:
double width;
/// \brief four points used to render plane
- smVec3d drawPoints[4];
+ core::Vec3d drawPoints[4];
/// \brief four points used to render plane
- smVec3d drawPointsOrig[4];
+ core::Vec3d drawPointsOrig[4];
};
/// \brief sphere with center and radius
-class smSphere : public smAnalyticalGeometry
+class Sphere : public AnalyticalGeometry
{
public:
/// \brief constructor
- smSphere();
+ Sphere();
/// \brief sphere constructor with center and radius
- smSphere(const smVec3d &c, const double &r)
+ Sphere(const core::Vec3d &c, const double &r)
{
this->center = c;
this->radius = r;
}
- ~smSphere(){}
+ ~Sphere(){}
void setRadius(const double r)
{
this->radius = r;
}
- void setCenter(const smVec3d& c)
+ void setCenter(const core::Vec3d& c)
{
this->center = c;
}
@@ -235,12 +235,12 @@ public:
this->radius += r;
}
- void translate(const smVec3d &t)
+ void translate(const core::Vec3d &t)
{
center += t;
}
- void rotate(const smMatrix33d &rot)
+ void rotate(const Matrix33d &rot)
{
//Its a sphere! nothing to be done.
}
@@ -250,102 +250,102 @@ public:
return this->radius;
}
- const smVec3d &getCenter() const
+ const core::Vec3d &getCenter() const
{
return this->center;
}
private:
/// \brief center of sphere
- smVec3d center;
+ core::Vec3d center;
/// \brief radius of sshere
double radius;
};
/// \brief cube
-struct smCube
+struct Cube
{
/// \brief cube center
- smVec3d center;
+ core::Vec3d center;
/// \brief cube length
double sideLength;
/// \brief constructor
- smCube();
+ Cube();
/// \brief subdivides the cube in mulitple cube with given number of cubes identified for each axis with p_divisionPerAxis
- void subDivide(int p_divisionPerAxis, smCube *p_cube);
+ void subDivide(int p_divisionPerAxis, Cube *p_cube);
/// \brief expands the cube. increases the edge length with expansion*edge length
void expand(double p_expansion);
/// \brief returns the left most corner
- smVec3d leftMinCorner() const ;
+ core::Vec3d leftMinCorner() const ;
/// \brief returns right most corner
- smVec3d rightMaxCorner() const;
+ core::Vec3d rightMaxCorner() const;
/// \brief returns the smallest sphere encapsulates the cube
- smSphere getCircumscribedSphere();
+ Sphere getCircumscribedSphere();
/// \brief returns the sphere with half edge of the cube as a radius
- smSphere getInscribedSphere();
+ Sphere getInscribedSphere();
/// \brief get tangent sphere
- smSphere getTangent2EdgeSphere();
+ Sphere getTangent2EdgeSphere();
};
/// \brief Axis Aligned bounding box declarions
-class smAABB : public smVisualArtifact
+class AABB : public VisualArtifact
{
public:
/// \brief minimum x,y,z point
- smVec3d aabbMin;
+ core::Vec3d aabbMin;
/// \brief maximum x,y,z point
- smVec3d aabbMax;
+ core::Vec3d aabbMax;
- const smVec3d &getMax() const
+ const core::Vec3d &getMax() const
{
return aabbMax;
}
- const smVec3d &getMin() const
+ const core::Vec3d &getMin() const
{
return aabbMin;
}
/// \brief constrcutor. The default is set to origin for aabbMin and aabbMax
- smAABB();
+ AABB();
/// \brief center of the AABB
- smVec3d center() const;
+ core::Vec3d center() const;
/// \brief check if two AABB overlaps
- static bool checkOverlap(const smAABB &p_aabbA, const smAABB &p_aabbB);
+ static bool checkOverlap(const AABB &p_aabbA, const AABB &p_aabbB);
/// \brief check if two AABB overlaps
- bool overlaps(const smAABB &other) const;
+ bool overlaps(const AABB &other) const;
/// \brief set p_aabb to the current one
- const smAABB &operator=(const smAABB &p_aabb);
+ const AABB &operator=(const AABB &p_aabb);
/// \brief scale the AABB
- smAABB &operator*(const double p_scale);
+ AABB &operator*(const double p_scale);
/// \brief sub divides p_length will be used to create the slices
- void subDivide(const double p_length, const int p_divison, smAABB *p_aabb) const;
+ void subDivide(const double p_length, const int p_divison, AABB *p_aabb) const;
/// \brief divides current AABB in x,y,z axes with specificed divisions. results are placed in p_aabb
- void subDivide(const int p_divisionX, const int p_divisionY, const int p_divisionZ, smAABB *p_aabb) const;
+ void subDivide(const int p_divisionX, const int p_divisionY, const int p_divisionZ, AABB *p_aabb) const;
/// \brief divides current AABB in all axes with specificed p_division. results are placed in p_aabb
- void subDivide(const int p_division, smAABB *p_aabb) const;
+ void subDivide(const int p_division, AABB *p_aabb) const;
/// \brief returns half of X edge of AABB
double halfSizeX() const;
@@ -369,7 +369,7 @@ public:
std::numeric_limits<float>::min();
}
- void extend(const smAABB &other)
+ void extend(const AABB &other)
{
this->aabbMin = this->aabbMin.array().min(other.getMin().array());
this->aabbMax = this->aabbMax.array().max(other.getMax().array());
diff --git a/src/Core/IOStream.cpp b/src/Core/IOStream.cpp
index 282b65886eca79d9c12989267f7d5e60026e9b9c..a36abef6d1e2abdd0bef23140fec91fec973aaf9 100644
--- a/src/Core/IOStream.cpp
+++ b/src/Core/IOStream.cpp
@@ -27,12 +27,12 @@
smConsoleStream::smConsoleStream()
{
}
-smIOStream& smConsoleStream::operator<<(std::string p_string)
+IOStream& smConsoleStream::operator<<(std::string p_string)
{
std::cout << p_string;
return *this;
}
-smIOStream& smConsoleStream::operator>>(std::string &p_string)
+IOStream& smConsoleStream::operator>>(std::string &p_string)
{
std::getline(std::cin, inputBuffer);
p_string = inputBuffer;
@@ -67,11 +67,11 @@ void smWindowString::operator=(smWindowString& p_windowString)
x = p_windowString.x;
y = p_windowString.y;
}
-smIOStream& smWindowStream::operator<<(std::string /*p_string*/)
+IOStream& smWindowStream::operator<<(std::string /*p_string*/)
{
return *this;
}
-smIOStream& smWindowStream::operator>>(std::string& /*p_string*/)
+IOStream& smWindowStream::operator>>(std::string& /*p_string*/)
{
return *this;
}
diff --git a/src/Core/IOStream.h b/src/Core/IOStream.h
index 956c9f65677232a9ff38b3f13d89315ea305a1b6..c813376b615ca3ea96b6c7ae8b3b2a2793908ac4 100644
--- a/src/Core/IOStream.h
+++ b/src/Core/IOStream.h
@@ -39,33 +39,33 @@
namespace mstk {
namespace Event {
- class smEvent;
+ class Event;
class smEventHandler;
class smCameraEvent;
}
}
/// \brief I/O stream
-class smIOStream : public smCoreClass
+class IOStream : public CoreClass
{
public:
- virtual smIOStream& operator >>(std::string &p_string) = 0;
- virtual smIOStream& operator <<(std::string p_string) = 0;
+ virtual IOStream& operator >>(std::string &p_string) = 0;
+ virtual IOStream& operator <<(std::string p_string) = 0;
protected:
std::shared_ptr<mstk::Event::smEventHandler> eventHanlder;
};
/// \brief console stream; for printing text on the console
-class smConsoleStream: public smIOStream
+class smConsoleStream: public IOStream
{
std::string inputBuffer;
public:
smConsoleStream();
/// \brief operator to print text
- virtual smIOStream& operator <<(std::string p_string);
+ virtual IOStream& operator <<(std::string p_string);
/// \brief to input from use
- virtual smIOStream& operator >>(std::string &p_string);
+ virtual IOStream& operator >>(std::string &p_string);
};
/// \brief window string
@@ -96,11 +96,11 @@ struct smWindowData
smWindowString windowString;
};
/// \brief window stream for putting window string on text
-class smWindowStream: public smIOStream
+class smWindowStream: public IOStream
{
public:
- virtual smIOStream& operator <<(std::string p_string);
- virtual smIOStream& operator >>(std::string &p_string);
+ virtual IOStream& operator <<(std::string p_string);
+ virtual IOStream& operator >>(std::string &p_string);
};
/// \brief opengl window stream for putting text on the screen
@@ -113,7 +113,7 @@ public:
bool enabled;
/// \brief text color
- smColor textColor;
+ Color textColor;
/// \brief constructors
smOpenGLWindowStream(int p_totalTexts = SM_WINDOW_TOTALSTRINGS_ONWINDOW);
@@ -134,7 +134,7 @@ public:
bool removeText(std::string p_tag);
/// \brief handle events
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent> /*p_event*/) override {}
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event> /*p_event*/) override {}
protected:
/// \brief fonts
@@ -172,7 +172,7 @@ protected:
float right;
float top;
/// \brief background color
- smColor backGroundColor;
+ Color backGroundColor;
};
#endif
diff --git a/src/Core/Light.cpp b/src/Core/Light.cpp
index 0ce29dc0813febf051dea2807cf3135ba8885aa5..0ad07b9913da6dd0bdeed55c809148419546e088 100644
--- a/src/Core/Light.cpp
+++ b/src/Core/Light.cpp
@@ -28,19 +28,19 @@
#include "Light.h"
#include "Quaternion.h"
-smVec3d smLight::defaultDir(0, 0, -1.0);
-smVec3d smLight::defaultUpDir(0, 1, 0.0);
-smVec3d smLight::defaultTransDir(1, 0, 0.0);
+core::Vec3d Light::defaultDir(0, 0, -1.0);
+core::Vec3d Light::defaultUpDir(0, 1, 0.0);
+core::Vec3d Light::defaultTransDir(1, 0, 0.0);
-void smLight::updateDirection()
+void Light::updateDirection()
{
double angle;
- smVec3d dirNorm = direction.normalized();
+ core::Vec3d dirNorm = direction.normalized();
angle = std::acos(dirNorm.dot(defaultDir));
- smVec3d axisOfRot = dirNorm.cross(defaultDir).normalized();
+ core::Vec3d axisOfRot = dirNorm.cross(defaultDir).normalized();
- smQuaterniond rot = getRotationQuaternion(-angle,axisOfRot);
+ Quaterniond rot = getRotationQuaternion(-angle,axisOfRot);
upVector = rot*defaultUpDir;
transverseDir = rot*defaultTransDir;
@@ -51,14 +51,14 @@ smLightPos::smLightPos( float p_x, float p_y, float p_z, float /*p_w*/ )
position << p_x, p_y, p_z;
}
-smLight::smLight( std::string p_name, smLightType p_lightType, smLightLocationType p_lightLocation )
+Light::Light( std::string p_name, LightType p_lightType, LightLocationType p_lightLocation )
{
name = p_name;
enabled = false;
previousState = false;
- lightPos.setPosition(smVec3d::Zero());
+ lightPos.setPosition(core::Vec3d::Zero());
- if ( p_lightType == SIMMEDTK_LIGHT_INFINITELIGHT )
+ if ( p_lightType == InfiniteLight )
{
lightPos.w = 0.0;
}
@@ -90,9 +90,9 @@ smLight::smLight( std::string p_name, smLightType p_lightType, smLightLocationTy
attn_linear = 0.0;
attn_quadratic = 0.0;
}
-void smLight::setType( smLightType p_lightType )
+void Light::setType( LightType p_lightType )
{
- if ( p_lightType == SIMMEDTK_LIGHT_INFINITELIGHT )
+ if ( p_lightType == InfiniteLight )
{
lightPos.w = 0.0;
}
@@ -101,11 +101,11 @@ void smLight::setType( smLightType p_lightType )
lightPos.w = 1.0;
}
}
-bool smLight::isEnabled()
+bool Light::isEnabled()
{
return enabled;
}
-void smLight::activate( bool p_state )
+void Light::activate( bool p_state )
{
enabled = p_state;
previousState = enabled;
diff --git a/src/Core/Light.h b/src/Core/Light.h
index 2a28a2f28980f0e481075076d3e3c6af64103eba..07d8d9e66daf99ecaf5604f000d08157e9c7d12a 100644
--- a/src/Core/Light.h
+++ b/src/Core/Light.h
@@ -35,51 +35,52 @@
#define SMLIGHT_SPOTMAX 128
-class smLight;
-/// \brief light type; infinite or spotlight
-enum smLightType
-{
- SIMMEDTK_LIGHT_SPOTLIGHT,
- SIMMEDTK_LIGHT_INFINITELIGHT
-};
-/// \brief location of the light type
-enum smLightLocationType
-{
- SIMMEDTK_LIGHTPOS_EYE,
- SIMMEDTK_LIGHTPOS_WORLD
-};
+class Light;
/// \brief light position. light at inifinite position can be defined with w
struct smLightPos
{
public:
+
smLightPos(float p_x = 0.0, float p_y = 0.0, float p_z = 0.0, float p_w = 1.0);
- void setPosition(const smVec3d &p)
+ void setPosition(const core::Vec3d &p)
{
position = p;
}
- const smVec3d &getPosition() const
+ const core::Vec3d &getPosition() const
{
return position;
}
private:
float w;
- smVec3d position;
- friend smLight;
+ core::Vec3d position;
+ friend Light;
};
/// \brief Basic light funtionality for the viewer..Be aware that if the light is
///infinite the cutoff angle is still in active. You could see sudden shade in the objects
///if you don't pay attention to the cut-off angle..If you want the scene to be fully lit
///set cut-off angle 180 degrees.
-///Also when the params SIMMEDTK_LIGHT_INFINITELIGHT,SIMMEDTK_LIGHTPOS_EYE are used, this means
+///Also when the params InfiniteLight,Eye are used, this means
//the light will be positioned with respect to eye coord and the light will be inifinite
//Therefore, the light should be positioned with a slight offset respect to eye pos(0,0,0);
///such as (0,0.5,0)(like a head lamp)
-struct smLight
+struct Light
{
-
+public:
+ /// \brief light type; infinite or spotlight
+ enum LightType
+ {
+ Spotlight,
+ InfiniteLight
+ };
+ /// \brief location of the light type
+ enum LightLocationType
+ {
+ Eye,
+ World
+ };
protected:
bool enabled;
bool previousState;
@@ -89,25 +90,25 @@ public:
int renderUsage;
std::string name;
- smLightLocationType lightLocationType;
- smLightType lightType;
+ LightLocationType lightLocationType;
+ LightType lightType;
float attn_constant;
float attn_linear;
float attn_quadratic;
- smLight(std::string p_name = "", smLightType p_lightType = SIMMEDTK_LIGHT_INFINITELIGHT,
- smLightLocationType p_lightLocation = SIMMEDTK_LIGHTPOS_EYE);
+ Light(std::string p_name = "", LightType p_lightType = InfiniteLight,
+ LightLocationType p_lightLocation = Eye);
/// \brief set light type
- void setType(smLightType p_lightType);
+ void setType(LightType p_lightType);
/// \brief returns if the light is enabled or not
bool isEnabled();
/// \brief activate the light
void activate(bool p_state);
/// \brief light properties
- smColor lightColorDiffuse;
- smColor lightColorAmbient;
- smColor lightColorSpecular;
+ Color lightColorDiffuse;
+ Color lightColorAmbient;
+ Color lightColorSpecular;
smLightPos lightPos;
//Vec3d direction;
@@ -118,16 +119,16 @@ public:
///angle between 0-90 and 180 is also accepted
float spotCutOffAngle;
/// \brief light direction, up vector, transverse direction, focus point
- smVec3d direction;
- smVec3d upVector;
- smVec3d transverseDir;
- smVec3d focusPosition;//it is for shadow
+ core::Vec3d direction;
+ core::Vec3d upVector;
+ core::Vec3d transverseDir;
+ core::Vec3d focusPosition;//it is for shadow
/// \brief update light direction
void updateDirection();
/// \brief default direction for light, upvector and transverse direction
- static smVec3d defaultDir;
- static smVec3d defaultUpDir;
- static smVec3d defaultTransDir;
+ static core::Vec3d defaultDir;
+ static core::Vec3d defaultUpDir;
+ static core::Vec3d defaultTransDir;
/// \brief if the light casts shadow, this should be enabled. Unfortunately, we only support one light at a time for shadows
bool castShadow;
@@ -137,16 +138,16 @@ public:
float shadowRatio;
float shadorAngle;
- static std::shared_ptr<smLight> getDefaultLighting(const std::string &name = "SceneLight")
+ static std::shared_ptr<Light> getDefaultLighting(const std::string &name = "SceneLight")
{
- std::shared_ptr<smLight>
- light = std::make_shared<smLight>(name,SIMMEDTK_LIGHT_SPOTLIGHT,SIMMEDTK_LIGHTPOS_WORLD);
- light->lightPos.setPosition(smVec3d(10.0, 10.0, 10.0));
+ std::shared_ptr<Light>
+ light = std::make_shared<Light>(name, Spotlight, World);
+ light->lightPos.setPosition(core::Vec3d(10.0, 10.0, 10.0));
light->lightColorDiffuse.setValue(0.8, 0.8, 0.8, 1);
light->lightColorAmbient.setValue(0.1, 0.1, 0.1, 1);
light->lightColorSpecular.setValue(0.9, 0.9, 0.9, 1);
light->spotCutOffAngle = 60;
- light->direction = smVec3d(0.0, 0.0, -1.0);
+ light->direction = core::Vec3d(0.0, 0.0, -1.0);
light->drawEnabled = false;
light->attn_constant = 1.0;
light->attn_linear = 0.0;
diff --git a/src/Core/Math.cpp b/src/Core/Math.cpp
deleted file mode 100644
index 05863bca4fc05dbccf9348af0dc72d8ec6e50f71..0000000000000000000000000000000000000000
--- a/src/Core/Math.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// This file is part of the SimMedTK project.
-// Copyright (c) Center for Modeling, Simulation, and 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
-//
-// 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.
-//
-//---------------------------------------------------------------------------
-//
-// Authors:
-//
-// Contact:
-//---------------------------------------------------------------------------
-
-// SimMedTK includes
-#include "Math.h"
-
-smMath::smMath()
-{
- type = core::ClassType::Math;
-}
-
-int smMath::pow(int p_base, int p_pow)
-{
- int res = 1;
-
- for (int i = 0; i < p_pow; i++)
- {
- res *= p_base;
- }
-
- return res;
-}
-
-float smMath::interpolate(int current, int min, int max)
-{
- if (current < min)
- {
- return 0.0;
- }
- else if (current > max)
- {
- return 1.0;
- }
- return (current - min) / (max - min);
-}
diff --git a/src/Core/Math.h b/src/Core/Math.h
deleted file mode 100644
index 1a52d50d73782a0f690bb249f37811bc80f49c3b..0000000000000000000000000000000000000000
--- a/src/Core/Math.h
+++ /dev/null
@@ -1,78 +0,0 @@
-// This file is part of the SimMedTK project.
-// Copyright (c) Center for Modeling, Simulation, and 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
-//
-// 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.
-//
-//---------------------------------------------------------------------------
-//
-// Authors:
-//
-// Contact:
-//---------------------------------------------------------------------------
-
-#ifndef SMMATH_H
-#define SMMATH_H
-#include "Config.h"
-#include "CoreClass.h"
-
-/// \brief generic definitions
-#define SM_PI 3.141592653589793
-#define SM_PI_HALF 1.57079632679489661923
-#define SM_PI_QUARTER 0.78539816339744830961
-#define SM_PI_TWO 6.28318530717958647692
-#define SM_PI_INV 0.31830988618379067154
-
-
-#define SM_MATRIX_PRECISION 0.000000001
-#define SM_DEGREES2RADIANS(X) X*0.0174532925
-#define SM_RADIANS2DEGREES(X) X*57.2957795
-
-/// \brief generic math class
-class smMath: smCoreClass
-{
-public:
-
- smMath();
- /// \brief computes power
- static int pow(int p_base, int p_pow);
- /// \brief linear interpolation with min, max
- static float interpolate(int current, int min, int max);
-};
-/// \brief hash function
-template<class T>
-class smBaseHash: public smCoreClass
-{
-public:
- smBaseHash()
- {
- }
- /// \brief computes hash based on the has table size, given one number x
- template<T>
- inline unsigned int computeHash(unsigned int p_tableSize, T p_x);
-
- /// \brief computes hash based on the has table size, given numbers x,y
- template<T>
- inline unsigned int computeHash(unsigned int p_tableSize, T p_x, T p_y);
- /// \brief computes hash based on the has table size, given numbers x,y,z
- template<T>
- inline unsigned int computeHash(unsigned int p_tableSize, T p_x, T p_y, T p_z);
-};
-
-template<class T>
-class smCollisionHash: public smBaseHash<T>
-{
-
-};
-
-#endif
diff --git a/src/Core/Matrix.h b/src/Core/Matrix.h
index f95c9fc360421b056a2c39d28c82a1fdbc2ead3b..d9c313a05f1fae236227032fc434a31bce6faf94 100644
--- a/src/Core/Matrix.h
+++ b/src/Core/Matrix.h
@@ -38,19 +38,19 @@
/// A 2x2 matrix
template<typename T>
-using smMatrix22 = Eigen::Matrix<T, 2, 2>;
+using Matrix22 = Eigen::Matrix<T, 2, 2>;
/// A 3x3 matrix
template<typename T>
-using smMatrix33 = Eigen::Matrix<T, 3, 3>;
+using Matrix33 = Eigen::Matrix<T, 3, 3>;
/// A 4x4 matrix
template<typename T>
-using smMatrix44 = Eigen::Matrix<T, 4, 4>;
+using Matrix44 = Eigen::Matrix<T, 4, 4>;
/// A 4x4 matrix
template<typename T>
-using smMatrix66 = Eigen::Matrix<T, 6, 6>;
+using Matrix66 = Eigen::Matrix<T, 6, 6>;
/// A dynamic size diagonal matrix
template<typename T>
@@ -58,32 +58,32 @@ using smDiagonalMatrix = Eigen::DiagonalMatrix<T, Eigen::Dynamic>;
/// A dynamic size dense matrix
template<typename T>
-using smMatrix = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
+using Matrix = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
/// A dynamic size sparse column-major matrix
-template<typename T, int StorageType = Eigen::ColMajor>
-using smSparseMatrix = Eigen::SparseMatrix<T,StorageType>;
+// template<typename T, int StorageType = Eigen::ColMajor>
+// using SparseMatrix = Eigen::SparseMatrix<T,StorageType>;
/// A 2x2 matrix of floats.
-using smMatrix22f = smMatrix22<float>;
+using Matrix22f = Matrix22<float>;
/// A 3x3 matrix of floats.
-using smMatrix33f = smMatrix33<float>;
+using Matrix33f = Matrix33<float>;
/// A 4x4 matrix of floats.
-using smMatrix44f = smMatrix44<float>;
+using Matrix44f = Matrix44<float>;
/// A 2x2 matrix of doubles.
-using smMatrix22d = smMatrix22<double>;
+using Matrix22d = Matrix22<double>;
/// A 3x3 matrix of doubles.
-using smMatrix33d = smMatrix33<double>;
+using Matrix33d = Matrix33<double>;
/// A 4x4 matrix of doubles.
-using smMatrix44d = smMatrix44<double>;
+using Matrix44d = Matrix44<double>;
/// A 6x6 matrix of doubles.
-using smMatrix66d = smMatrix66<double>;
+using Matrix66d = Matrix66<double>;
/// A dynamic size diagonal matrix of floats
using smDiagonalMatrixf = smDiagonalMatrix<float>;
@@ -92,26 +92,26 @@ using smDiagonalMatrixf = smDiagonalMatrix<float>;
using smDiagonalMatrixd = smDiagonalMatrix<double>;
/// A dynamic size matrix of floats
-using smMatrixf = smMatrix<float>;
+using Matrixf = Matrix<float>;
/// A dynamic size matrix of doubles
-using smMatrixd = smMatrix<double>;
+using Matrixd = Matrix<double>;
-template<typename T, int StorageType>
-void fillSparseMatrix(const std::vector<Eigen::Triplet<T>> &triplets, Eigen::SparseMatrix<T,StorageType> &A)
-{
- A.setFromTriplets(triplets.begin(),triplets.end());
-}
-
-template<typename T, int StorageType, int opt>
-void solveSparseSystemCholesky(const Eigen::SparseMatrix<T,StorageType> &A,
- const Eigen::Matrix<T, Eigen::Dynamic, 1, opt> &b,
- Eigen::Matrix<T, Eigen::Dynamic, 1, opt> &x)
-{
- // Solving:
- Eigen::SimplicialCholesky<Eigen::SparseMatrix<T,StorageType>> solver(A); // performs a Cholesky factorization of A
- x = solver.solve(b); // use the factorization to solve for the given right hand side
-}
+// template<typename T, int StorageType>
+// void fillSparseMatrix(const std::vector<Eigen::Triplet<T>> &triplets, Eigen::SparseMatrix<T,StorageType> &A)
+// {
+// A.setFromTriplets(triplets.begin(),triplets.end());
+// }
+//
+// template<typename T, int StorageType, int opt>
+// void solveSparseSystemCholesky(const Eigen::SparseMatrix<T,StorageType> &A,
+// const Eigen::Matrix<T, Eigen::Dynamic, 1, opt> &b,
+// Eigen::Matrix<T, Eigen::Dynamic, 1, opt> &x)
+// {
+// // Solving:
+// Eigen::SimplicialCholesky<Eigen::SparseMatrix<T,StorageType>> solver(A); // performs a Cholesky factorization of A
+// x = solver.solve(b); // use the factorization to solve for the given right hand side
+// }
// WARNING: The input matrix A should be in a compressed and column-major form. Otherwise an expensive copy will be made.
// template<typename T, int StorageType, int opt>
diff --git a/src/Core/ModelRepresentation.cpp b/src/Core/ModelRepresentation.cpp
index 40f9f86cb7f28b81266b1d78012d8c5e95ff131b..1f38fd75edeb79848cb7047f5bcff99f974c8d58 100644
--- a/src/Core/ModelRepresentation.cpp
+++ b/src/Core/ModelRepresentation.cpp
@@ -23,14 +23,14 @@
#include "ModelRepresentation.h"
-smModelRepresentation::smModelRepresentation()
+ModelRepresentation::ModelRepresentation()
{
}
-smModelRepresentation::~smModelRepresentation()
+ModelRepresentation::~ModelRepresentation()
{
}
-smModelRepresentation::smModelRepresentation() {}
-smModelRepresentation::~smModelRepresentation() {}
+ModelRepresentation::ModelRepresentation() {}
+ModelRepresentation::~ModelRepresentation() {}
diff --git a/src/Core/ModelRepresentation.h b/src/Core/ModelRepresentation.h
index b7850f813afbebb53470fe5443ae3a142081bd62..41d822db686852d5aa5ee4e5831a3702588ec6c1 100644
--- a/src/Core/ModelRepresentation.h
+++ b/src/Core/ModelRepresentation.h
@@ -33,14 +33,14 @@
class smMesh;
-class smModelRepresentation
+class ModelRepresentation
{
public:
- smModelRepresentation(){}
- ~smModelRepresentation(){}
+ ModelRepresentation(){}
+ ~ModelRepresentation(){}
virtual std::shared_ptr<smMesh> getMesh(){ std::shared_ptr<smMesh> s; return s; }
- virtual std::shared_ptr<smCoreClass> getObject(){ std::shared_ptr<smCoreClass> s; return s; }
+ virtual std::shared_ptr<CoreClass> getObject(){ std::shared_ptr<CoreClass> s; return s; }
virtual void draw(){}
};
diff --git a/src/Core/Module.cpp b/src/Core/Module.cpp
index 1da1a371a402d71f7ac334841ad9f1d90eb0df2a..1433d3ee005ca3174ec3b79e2471058802169bd9 100644
--- a/src/Core/Module.cpp
+++ b/src/Core/Module.cpp
@@ -24,28 +24,28 @@
#include "Module.h"
/// \brief Begin frame will be called before the cycle
-void smModule::beginModule()
+void Module::beginModule()
{
- dispathcer->handle(std::static_pointer_cast<smCoreClass>(shared_from_this()), core::CallerState::BeginFrame);
+ dispathcer->handle(std::static_pointer_cast<CoreClass>(shared_from_this()), core::CallerState::BeginFrame);
beginFrame();
}
/// \brief End frame will be called after the cycle
-void smModule::endModule()
+void Module::endModule()
{
endFrame();
- dispathcer->handle(std::static_pointer_cast<smCoreClass>(shared_from_this()), core::CallerState::EndFrame);
+ dispathcer->handle(std::static_pointer_cast<CoreClass>(shared_from_this()), core::CallerState::EndFrame);
}
-void smModule::terminate()
+void Module::terminate()
{
terminateExecution = true;
}
-bool smModule::isTerminationDone()
+bool Module::isTerminationDone()
{
return terminationCompleted;
}
-void smModule::waitTermination()
+void Module::waitTermination()
{
while ( 1 )
{
@@ -55,11 +55,11 @@ void smModule::waitTermination()
}
}
}
-int smModule::getModuleId()
+int Module::getModuleId()
{
return this->getUniqueId()->getId();
}
-smModule::smModule()
+Module::Module()
{
terminateExecution = false;
isInitialized = false;
diff --git a/src/Core/Module.h b/src/Core/Module.h
index 3b034301aab523a1d57da42abb51bf5c48c55c47..e1c155da4f6a99b15d52b39ab097941ddd522b44 100644
--- a/src/Core/Module.h
+++ b/src/Core/Module.h
@@ -35,11 +35,11 @@
#include "SceneObject.h"
///this class is module major. Every other thread should derive this class
-class smModule: public smCoreClass
+class Module: public CoreClass
{
private:
- friend class smSDK;
+ friend class SDK;
protected:
///initialization flag
@@ -52,16 +52,16 @@ protected:
bool terminationCompleted;
///scene list in the environment
- std::vector<std::shared_ptr<smScene>> sceneList;
+ std::vector<std::shared_ptr<Scene>> sceneList;
/// \brief call are made for begin module and end module before and after each frame
virtual void beginModule();
virtual void endModule();
/// \brief dispatcher reference
- std::shared_ptr<smDispatcher> dispathcer;
+ std::shared_ptr<Dispatcher> dispathcer;
public:
/// \brief constructor initializes the module
- smModule();
+ Module();
/// \brief virtual functions
virtual void init() = 0;
diff --git a/src/Core/ObjectSimulator.cpp b/src/Core/ObjectSimulator.cpp
index 3c754881aa5c0fcb3491e40f29e63b641c74c0e8..9e9f9ca9df03e9a63ee816a28d3d013ee148f1cd 100644
--- a/src/Core/ObjectSimulator.cpp
+++ b/src/Core/ObjectSimulator.cpp
@@ -25,10 +25,10 @@
#include "Rendering/Viewer.h"
#include "SDK.h"
-smObjectSimulator::smObjectSimulator(std::shared_ptr<smErrorLog> p_log)
+ObjectSimulator::ObjectSimulator(std::shared_ptr<ErrorLog> p_log)
{
this->log = p_log;
-// smSDK::getInstance()->registerObjectSim(safeDownCast<smObjectSimulator>());
+// SDK::getInstance()->registerObjectSim(safeDownCast<ObjectSimulator>());
name = "objecSimulator" + std::to_string(this->getUniqueId()->getId());
type = core::ClassType::Simulator;
@@ -45,22 +45,22 @@ smObjectSimulator::smObjectSimulator(std::shared_ptr<smErrorLog> p_log)
execType = SIMMEDTK_SIMEXECUTION_SYNCMODE;
}
-void smObjectSimulator::addObject(std::shared_ptr<smSceneObject> p_object)
+void ObjectSimulator::addObject(std::shared_ptr<SceneObject> p_object)
{
- p_object->objectSim = safeDownCast<smObjectSimulator>();
+ p_object->objectSim = safeDownCast<ObjectSimulator>();
objectsSimulated.emplace_back( p_object );
}
-void smObjectSimulator::removeObject(std::shared_ptr<smSceneObject> /*p_object*/ )
+void ObjectSimulator::removeObject(std::shared_ptr<SceneObject> /*p_object*/ )
{
}
-void smObjectSimulator::setPriority( smThreadPriority p_priority )
+void ObjectSimulator::setPriority( smThreadPriority p_priority )
{
threadPriority = p_priority;
}
-void smObjectSimulator::setExecutionType( smSimulatorExecutionType p_type )
+void ObjectSimulator::setExecutionType( smSimulatorExecutionType p_type )
{
if ( execType != p_type )
{
@@ -70,12 +70,12 @@ void smObjectSimulator::setExecutionType( smSimulatorExecutionType p_type )
execType = p_type;
}
-smThreadPriority smObjectSimulator::getPriority()
+smThreadPriority ObjectSimulator::getPriority()
{
return threadPriority;
}
-void smObjectSimulator::init()
+void ObjectSimulator::init()
{
if ( isObjectSimInitialized == false )
{
@@ -85,12 +85,12 @@ void smObjectSimulator::init()
}
}
-void smObjectSimulator::beginSim()
+void ObjectSimulator::beginSim()
{
frameCounter++;
timer.start();
}
-void smObjectSimulator::endSim()
+void ObjectSimulator::endSim()
{
timerPerFrame = timer.elapsed();
totalTime += timerPerFrame;
@@ -103,12 +103,12 @@ void smObjectSimulator::endSim()
}
}
-void smObjectSimulator::updateSceneList()
+void ObjectSimulator::updateSceneList()
{
}
-smObjectSimulator::smObjectSimulatorObjectIter::smObjectSimulatorObjectIter( smScheduleGroup &p_group,
- std::vector<std::shared_ptr<smSceneObject>> &p_objectsSimulated,
+ObjectSimulator::smObjectSimulatorObjectIter::smObjectSimulatorObjectIter( ScheduleGroup &p_group,
+ std::vector<std::shared_ptr<SceneObject>> &p_objectsSimulated,
int p_threadIndex )
{
@@ -146,17 +146,17 @@ smObjectSimulator::smObjectSimulatorObjectIter::smObjectSimulatorObjectIter( smS
}
}
}
-void smObjectSimulator::smObjectSimulatorObjectIter::setThreadIndex( short int p_threadIndex )
+void ObjectSimulator::smObjectSimulatorObjectIter::setThreadIndex( short int p_threadIndex )
{
threadIndex = p_threadIndex;
}
-int smObjectSimulator::smObjectSimulatorObjectIter::begin()
+int ObjectSimulator::smObjectSimulatorObjectIter::begin()
{
return beginIndex;
}
-int smObjectSimulator::smObjectSimulatorObjectIter::end()
+int ObjectSimulator::smObjectSimulatorObjectIter::end()
{
return endIndex;
}
diff --git a/src/Core/ObjectSimulator.h b/src/Core/ObjectSimulator.h
index 215404191051b5cdd77b2c467051adf58fee6554..f5693dbbc17398a32ae84bd46d6717ca476791b8 100644
--- a/src/Core/ObjectSimulator.h
+++ b/src/Core/ObjectSimulator.h
@@ -52,27 +52,22 @@ enum smSimulatorExecutionType
};
//forward declarations
-class smSceneObject;
-
-struct smObjectSimulatorParam
-{
- short threadIndex;
-};
+class SceneObject;
///This is the major object simulator. Each object simulator should derive this class.
///you want particular object simualtor to work over an object just set pointer of the object. the rest will be taken care of the simulator and object simulator.
-class smObjectSimulator : public smCoreClass
+class ObjectSimulator : public CoreClass
{
- ///friend class since smSimulator is the encapsulates the other simulators.
- friend class smSimulator;
+ ///friend class since Simulator is the encapsulates the other simulators.
+ friend class Simulator;
protected:
///log of the object
- std::shared_ptr<smErrorLog> log;
+ std::shared_ptr<ErrorLog> log;
bool isObjectSimInitialized;
smThreadPriority threadPriority;
- smTimer timer;
+ Timer timer;
long double timerPerFrame;
long double FPS;
unsigned int frameCounter;
@@ -82,18 +77,18 @@ protected:
public:
///This is for scheduler
- smScheduleGroup scheduleGroup;
+ ScheduleGroup scheduleGroup;
- //std::shared_ptr<smUnifiedId> objectSimulatorId;
+ //std::shared_ptr<UnifiedId> objectSimulatorId;
bool enabled;
///the function is reentrant it is not thread safe.
- virtual void addObject(std::shared_ptr<smSceneObject> p_object);
+ virtual void addObject(std::shared_ptr<SceneObject> p_object);
/// \brief remove object from the simulator
- virtual void removeObject(std::shared_ptr<smSceneObject> p_object);
+ virtual void removeObject(std::shared_ptr<SceneObject> p_object);
- smObjectSimulator(std::shared_ptr<smErrorLog> p_log);
+ ObjectSimulator(std::shared_ptr<ErrorLog> p_log);
/// \brief set thread priority
void setPriority(smThreadPriority p_priority);
@@ -105,7 +100,7 @@ public:
protected:
///objects that are simulated by this will be added to the list
- std::vector<std::shared_ptr<smSceneObject>> objectsSimulated;
+ std::vector<std::shared_ptr<SceneObject>> objectsSimulated;
virtual void initCustom() = 0;
@@ -139,8 +134,8 @@ protected:
short threadIndex;
public:
- smObjectSimulatorObjectIter(smScheduleGroup &p_group,
- std::vector<std::shared_ptr<smSceneObject>> &p_objectsSimulated,
+ smObjectSimulatorObjectIter(ScheduleGroup &p_group,
+ std::vector<std::shared_ptr<SceneObject>> &p_objectsSimulated,
int p_threadIndex);
inline void setThreadIndex(short p_threadIndex);
diff --git a/src/Core/Pipe.cpp b/src/Core/Pipe.cpp
deleted file mode 100644
index cd4cfb2535a7da81f76ac8f6e95ee9624010a125..0000000000000000000000000000000000000000
--- a/src/Core/Pipe.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-// This file is part of the SimMedTK project.
-// Copyright (c) Center for Modeling, Simulation, and 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
-//
-// 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.
-//
-//---------------------------------------------------------------------------
-//
-// Authors:
-//
-// Contact:
-//---------------------------------------------------------------------------
-
-#include "Pipe.h"
-
-smPipeData::smPipeData()
-{
- dataLocation = NULL;
- dataReady = false;
- nbrElements = 0;
- timeStamp = 0;
-}
-smPipeRegisteration::smPipeRegisteration()
-{
- regType = SIMMEDTK_PIPE_BYREF;
-}
-smPipeRegisteration::smPipeRegisteration ( smPipeRegType p_reg )
-{
- regType = p_reg;
-}
-void smPipeRegisteration::print()
-{
- if ( regType == SIMMEDTK_PIPE_BYREF )
- {
- std::cout << "Listener Object" << " By Reference" << "\n";
- }
-
- if ( regType == SIMMEDTK_PIPE_BYVALUE )
- {
- std::cout << "Listener Object" << " By Value" << "\n";
- }
-}
-smPipe::~smPipe()
-{
- smIndiceArrayIter<smPipeRegisteration*> iterValue ( &byValue );
-
- for ( int i = iterValue.begin(); i < iterValue.end(); i++ )
- {
- delete [] static_cast<char*>(iterValue[i]->data.dataLocation);
- }
-}
-smPipe::smPipe ( std::string p_name, int p_elementSize, int p_maxElements, smPipeType p_pipeType ) :
- byRefs ( SIMMEDTK_PIPE_MAXLISTENERS ),
- byValue ( SIMMEDTK_PIPE_MAXLISTENERS )
-{
- name = p_name;
- maxElements = p_maxElements;
- elementSize = p_elementSize;
- data = new char[elementSize * maxElements]; //change it to memory block later on
- pipeType = p_pipeType;
-}
-int smPipe::getElements()
-{
- return maxElements;
-}
-void* smPipe::beginWrite()
-{
- return data;
-}
-void smPipe::endWrite ( int p_elements )
-{
- currentElements = p_elements;
- timeStamp++;
- acknowledgeRefListeners();
-}
-int smPipe::registerListener ( smPipeRegisteration* p_pipeReg )
-{
- if ( p_pipeReg->regType == SIMMEDTK_PIPE_BYREF )
- {
- p_pipeReg->data.dataLocation = data;
- return byRefs.add ( p_pipeReg );
- }
- p_pipeReg->data.dataLocation = new char[elementSize * maxElements];
- p_pipeReg->data.dataReady = false;
- p_pipeReg->data.nbrElements = 0;
- p_pipeReg->data.timeStamp = timeStamp;
- return byValue.add ( p_pipeReg );
-}
-void smPipe::acknowledgeRefListeners()
-{
- smIndiceArrayIter<smPipeRegisteration*> iterRef ( &byRefs );
-
- for ( int i = iterRef.begin(); i < iterRef.end(); i++ )
- {
- ( iterRef[i]->data.nbrElements ) = currentElements;
- ( iterRef[i]->data.timeStamp ) = timeStamp;
- ( iterRef[i]->data.dataReady ) = true;
- }
-}
-void smPipe::acknowledgeValueListeners()
-{
- smIndiceArrayIter<smPipeRegisteration*> iter ( &byValue );
-
- for ( int i = iter.begin(); i < iter.end(); i++ )
- {
- memcpy ( iter[i]->data.dataLocation, data, currentElements * elementSize );
- ( iter[i]->data.nbrElements ) = currentElements;
- ( iter[i]->data.dataReady ) = true;
- }
-}
-void smPipe::checkAndCopyNewData ( int p_handleByValue )
-{
- smPipeRegisteration *reg = byValue.getByRef ( p_handleByValue );
-
- if ( reg->data.timeStamp < timeStamp )
- {
- memcpy ( reg->data.dataLocation, data, currentElements * elementSize );
- }
-
- reg->data.nbrElements = currentElements;
-}
-void smPipe::copyData ( int p_handleByValue )
-{
- memcpy ( byValue.getByRef ( p_handleByValue )->data.dataLocation, data, currentElements * elementSize );
- ( byValue.getByRef ( p_handleByValue )->data.nbrElements ) = currentElements;
-}
-void smPipe::print() const
-{
- byRefs.print();
- byValue.print();
-}
-bool operator== ( smPipe& p_pipe, std::string p_name )
-{
- return ( p_pipe.name == p_name ? true : false );
-}
diff --git a/src/Core/Pipe.h b/src/Core/Pipe.h
deleted file mode 100644
index 959607539a46c7009cb4b3bf5bbefc8dc5282bcc..0000000000000000000000000000000000000000
--- a/src/Core/Pipe.h
+++ /dev/null
@@ -1,138 +0,0 @@
-// This file is part of the SimMedTK project.
-// Copyright (c) Center for Modeling, Simulation, and 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
-//
-// 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.
-//
-//---------------------------------------------------------------------------
-//
-// Authors:
-//
-// Contact:
-//---------------------------------------------------------------------------
-
-#ifndef SMPIPE_H
-#define SMPIPE_H
-
-// STL includes
-#include <cstdlib>
-#include <cstring>
-#include <iostream>
-#include <mutex>
-#include <condition_variable>
-
-// SimMedTK includes
-#include "Config.h"
-#include "CoreClass.h"
-#include "DataStructures.h"
-
-#define SIMMEDTK_PIPE_MAXLISTENERS 10
-
-/// \brief pipe registration type such as reference or a value
-enum smPipeRegType
-{
- SIMMEDTK_PIPE_BYREF,
- SIMMEDTK_PIPE_BYVALUE
-};
-/// \brief pipe type
-enum smPipeType
-{
- SIMMEDTK_PIPE_TYPEREF,
- SIMMEDTK_PIPE_TYPEVALUE,
- SIMMEDTK_PIPE_TYPEANY
-};
-/// \brief holder for pipe data
-struct smPipeData
-{
- smPipeData();
-
- void *dataLocation;//if the data is call-by-value data is written here
- volatile int nbrElements;
- volatile bool dataReady;///flag is raised when the data is ready
- volatile unsigned int timeStamp;
-};
-/// \brief pipe registration holder
-struct smPipeRegisteration
-{
- /// \brief constructor
- smPipeRegisteration();
-
- smPipeRegisteration(smPipeRegType p_reg);
-
- smCoreClass *listenerObject;///pointer to the listener for future use
- smPipeData data;///information about the data.
- smPipeRegType regType;///registration type. Will it be reference or value registration.
- /// \brief print pipe registration information
- void print();
-
-};
-/// \brief pipe is used for communication among the entities in the framework
-class smPipe: public smCoreClass
-{
-protected:
- /// \brief pipe stype
- smPipeType pipeType;
- /// \brief number of elements
- int maxElements;
- /// \brief pointer to the data
- void *data;
- /// \brief enable/disable
- bool enabled;
- /// \brief indices to the objects that register by reference
- smIndiceArray<smPipeRegisteration*> byRefs;
- /// \brief ndices to the objects that register by value
- smIndiceArray<smPipeRegisteration*> byValue;
- /// \brief number of current elements in the pipe
- volatile int currentElements;
- volatile unsigned int timeStamp;//For stamping the data
- /// \brief element size
- volatile int elementSize;
-
-public:
- /// \brief destructor
- ~smPipe();
- /// \brief pipe constructor
- smPipe(std::string p_name, int p_elementSize, int p_maxElements,
- smPipeType p_pipeType = SIMMEDTK_PIPE_TYPEANY);
- /// \brief get maximum number of elements
- int getElements();
- /// \brief begin writing
- void *beginWrite();
- /// \brief end writing
- void endWrite(int p_elements);
- /// \brief register for the pipe
- int registerListener(smPipeRegisteration *p_pipeReg);
-
- ///Acknowledge only raises the flag so that it will enable the listeners
- void acknowledgeRefListeners();
-
- ///This is for copy-by-value listeners..With this, the data will be copied to the listener provided data location
- void acknowledgeValueListeners();
-
- ///For copy by value, the function checks
- void checkAndCopyNewData(int p_handleByValue);
-
- ///for copy by value usage
- void copyData(int p_handleByValue);
-
- friend bool operator==(smPipe &p_pipe, std::string p_name);
- /// \brief print all the listeners (both reference and value)
- void print() const;
-};
-/// \brief secure pipe is for consumer-producer relation. not implemented yet
-class smSecurePipe: public smPipe
-{
-
-};
-
-#endif // SMPIPE_H
diff --git a/src/Core/Quaternion.h b/src/Core/Quaternion.h
index 87972f53dee1e0b7ca55b0dcf741e51e5dd4f210..2312be1e2621582c51d411bc599e970dac613a8d 100644
--- a/src/Core/Quaternion.h
+++ b/src/Core/Quaternion.h
@@ -33,13 +33,13 @@
/// A quaternion.
template<typename T>
-using smQuaternion = Eigen::Quaternion<T>;
+using Quaternion = Eigen::Quaternion<T>;
/// A quaternion of floats.
-using smQuaternionf = smQuaternion<float>;
+using Quaternionf = Quaternion<float>;
/// A quaternion of doubles.
-using smQuaterniond = smQuaternion<double>;
+using Quaterniond = Quaternion<double>;
/// Create a quaternion rotation corresponding to the specified angle (in radians) and axis.
/// \tparam T the numeric data type.
diff --git a/src/Core/RenderDelegate.h b/src/Core/RenderDelegate.h
index 2f28afe1f3f631b509edd3f3c5115ecdafdf8600..a5d8d2b77473fb1b957fdaa7dda2fa7cc23d029b 100644
--- a/src/Core/RenderDelegate.h
+++ b/src/Core/RenderDelegate.h
@@ -1,14 +1,14 @@
#ifndef SMRENDERABLE_H
#define SMRENDERABLE_H
-#include "RenderDetail.h" // for smGeometrySource
+#include "RenderDetail.h" // for GeometrySource
#include <memory> // for shared_ptr
-class smRenderDelegate
+class RenderDelegate
{
public:
- typedef std::shared_ptr<smRenderDelegate> Ptr;
+ typedef std::shared_ptr<RenderDelegate> Ptr;
virtual void initDraw() const
{ }
@@ -27,7 +27,7 @@ public:
{ return this->sourceGeometry.sourceAs<T>(); }
protected:
- smGeometrySource sourceGeometry; // object to render when draw() is called
+ GeometrySource sourceGeometry; // object to render when draw() is called
};
#endif // SMRENDERABLE_H
diff --git a/src/Core/RenderDetail.cpp b/src/Core/RenderDetail.cpp
index 70b3e66099b0150f3d45c43bf26ecf98ce6d7522..791a87103402462a88976993591d82c70b6859c9 100644
--- a/src/Core/RenderDetail.cpp
+++ b/src/Core/RenderDetail.cpp
@@ -16,32 +16,32 @@
#include "RenderDetail.h"
//#include "Shader/Shader.h"
-void smRenderDetail::addShader(std::shared_ptr<smUnifiedId> p_shaderID)
+void RenderDetail::addShader(std::shared_ptr<UnifiedId> p_shaderID)
{
shaderEnable.push_back(true);
shaders.push_back(p_shaderID);
}
-void smRenderDetail::addVAO(std::shared_ptr<smUnifiedId> p_shaderID)
+void RenderDetail::addVAO(std::shared_ptr<UnifiedId> p_shaderID)
{
VAOs.push_back(p_shaderID);
VAOEnable.push_back(true);
}
-smRenderDetail::smRenderDetail()
+RenderDetail::RenderDetail()
{
this->reset();
}
-smRenderDetail::smRenderDetail(unsigned int type)
+RenderDetail::RenderDetail(unsigned int type)
{
this->reset();
normalLength = 1.0;
this->renderType = type;
}
-void smRenderDetail::reset()
+void RenderDetail::reset()
{
renderType = 0;
highLightColor.rgba[0] = 1.0f;
@@ -53,138 +53,138 @@ void smRenderDetail::reset()
shadowColor.rgba[1] = 0.0f;
shadowColor.rgba[2] = 0.0f;
shadowColor.rgba[3] = 0.5f;
- colorDiffuse = smColor::colorWhite;
- colorAmbient = smColor::colorWhite;
- colorSpecular = smColor::colorWhite;
- normalColor = smColor::colorGreen;
- wireFrameColor = smColor::colorBlue;
+ colorDiffuse = Color::colorWhite;
+ colorAmbient = Color::colorWhite;
+ colorSpecular = Color::colorWhite;
+ normalColor = Color::colorGreen;
+ wireFrameColor = Color::colorBlue;
shininess = 50.0;
debugDraw = false;
castShadow = true;
canGetShadow = true;
}
-void smRenderDetail::setNormalLength(const float len)
+void RenderDetail::setNormalLength(const float len)
{
this->normalLength = len;
}
-void smRenderDetail::setLineSize(const float size)
+void RenderDetail::setLineSize(const float size)
{
this->lineSize = size;
}
-void smRenderDetail::setPointSize(const float size)
+void RenderDetail::setPointSize(const float size)
{
this->pointSize = size;
}
-void smRenderDetail::setVertexColor(const smColor vertColor)
+void RenderDetail::setVertexColor(const Color vertColor)
{
this->vertexRenderColor = vertColor;
}
-void smRenderDetail::setNormalColor(const smColor normColor)
+void RenderDetail::setNormalColor(const Color normColor)
{
this->normalColor = normColor;
}
-void smRenderDetail::setDiffuseColor(const smColor diffColor)
+void RenderDetail::setDiffuseColor(const Color diffColor)
{
this->colorDiffuse = diffColor;
}
-void smRenderDetail::setAmbientColor(const smColor ambColor)
+void RenderDetail::setAmbientColor(const Color ambColor)
{
this->colorAmbient = ambColor;
}
-void smRenderDetail::setSpecularColor(const smColor specColor)
+void RenderDetail::setSpecularColor(const Color specColor)
{
this->colorSpecular = specColor;
}
-void smRenderDetail::setShadowColor(const smColor shadColor)
+void RenderDetail::setShadowColor(const Color shadColor)
{
this->shadowColor = shadColor;
}
-void smRenderDetail::setWireframeColor(const smColor wireColor)
+void RenderDetail::setWireframeColor(const Color wireColor)
{
this->wireFrameColor = wireColor;
}
-void smRenderDetail::setShininess(const float s)
+void RenderDetail::setShininess(const float s)
{
this->shininess = s;
}
-void smRenderDetail::setHighlightColor(const smColor highlightColor)
+void RenderDetail::setHighlightColor(const Color highlightColor)
{
this->highLightColor = highlightColor;
}
-const smColor& smRenderDetail::getColorDiffuse() const
+const Color& RenderDetail::getColorDiffuse() const
{
return colorDiffuse;
}
-const smColor& smRenderDetail::getColorAmbient() const
+const Color& RenderDetail::getColorAmbient() const
{
return colorAmbient;
}
-const smColor& smRenderDetail::getColorSpecular() const
+const Color& RenderDetail::getColorSpecular() const
{
return colorSpecular;
}
-const float& smRenderDetail::getShininess() const
+const float& RenderDetail::getShininess() const
{
return shininess;
}
-const unsigned int& smRenderDetail::getRenderType() const
+const unsigned int& RenderDetail::getRenderType() const
{
return renderType;
}
-const float& smRenderDetail::getPointSize() const
+const float& RenderDetail::getPointSize() const
{
return pointSize;
}
-const float& smRenderDetail::getLineSize() const
+const float& RenderDetail::getLineSize() const
{
return lineSize;
}
-const smColor& smRenderDetail::getNormalColor() const
+const Color& RenderDetail::getNormalColor() const
{
return this->normalColor;
}
-const smColor& smRenderDetail::getHighLightColor() const
+const Color& RenderDetail::getHighLightColor() const
{
return this->highLightColor;
}
-const smColor& smRenderDetail::getVertexColor() const
+const Color& RenderDetail::getVertexColor() const
{
return this->vertexRenderColor;
}
-const smColor& smRenderDetail::getShadowColor() const
+const Color& RenderDetail::getShadowColor() const
{
return this->shadowColor;
}
-const bool& smRenderDetail::getCastShadow() const
+const bool& RenderDetail::getCastShadow() const
{
return this->castShadow;
}
-const bool& smRenderDetail::getCanGetShadow() const
+const bool& RenderDetail::getCanGetShadow() const
{
return this->canGetShadow;
}
-const smColor& smRenderDetail::getWireFrameColor() const
+const Color& RenderDetail::getWireFrameColor() const
{
return this->wireFrameColor;
}
-const bool& smRenderDetail::getDebugDraw() const
+const bool& RenderDetail::getDebugDraw() const
{
return this->debugDraw;
}
-const std::vector< std::shared_ptr<smUnifiedId> >& smRenderDetail::getShaders() const
+const std::vector< std::shared_ptr<UnifiedId> >& RenderDetail::getShaders() const
{
return this->shaders;
}
-const std::vector< bool >& smRenderDetail::getShaderEnable() const
+const std::vector< bool >& RenderDetail::getShaderEnable() const
{
return this->shaderEnable;
}
-const std::vector< std::shared_ptr<smUnifiedId> >& smRenderDetail::getVAOs() const
+const std::vector< std::shared_ptr<UnifiedId> >& RenderDetail::getVAOs() const
{
return this->VAOs;
}
-const std::vector< bool >& smRenderDetail::getVAOEnable() const
+const std::vector< bool >& RenderDetail::getVAOEnable() const
{
return this->VAOEnable;
}
diff --git a/src/Core/RenderDetail.h b/src/Core/RenderDetail.h
index 4cda36ae4ed6cb96f4e850251c911dc561791df6..29b3f31bc6255530446560baa0f6ff83c03d3c55 100644
--- a/src/Core/RenderDetail.h
+++ b/src/Core/RenderDetail.h
@@ -23,24 +23,24 @@
#include <memory>
#include <vector>
-class smVisualArtifact;
-class smCoreClass;
-struct smUnifiedId;
+class VisualArtifact;
+class CoreClass;
+struct UnifiedId;
///\brief Hold a pointer to a source of geometry that render details can use for drawing.
-struct smGeometrySource {
- smCoreClass* sceneObject;
- smVisualArtifact* analyticObject;
+struct GeometrySource {
+ CoreClass* sceneObject;
+ VisualArtifact* analyticObject;
- smGeometrySource()
+ GeometrySource()
: sceneObject(nullptr), analyticObject(nullptr)
{ }
- void setSource(smCoreClass* src)
+ void setSource(CoreClass* src)
{
this->sceneObject = src;
this->analyticObject = nullptr;
}
- void setSource(smVisualArtifact* src)
+ void setSource(VisualArtifact* src)
{
this->sceneObject = nullptr;
this->analyticObject = src;
@@ -57,29 +57,29 @@ struct smGeometrySource {
}
};
-/// \brief smRenderDetail has rendering options and features.
+/// \brief RenderDetail has rendering options and features.
///It shows how the mesh should be rendered
-struct smRenderDetail
+struct RenderDetail
{
public:
- typedef std::shared_ptr<smRenderDetail> Ptr;
+ typedef std::shared_ptr<RenderDetail> Ptr;
- smRenderDetail();
- smRenderDetail(unsigned int type);
+ RenderDetail();
+ RenderDetail(unsigned int type);
void reset();
/// \brief attachment of shader
- void addShader(std::shared_ptr<smUnifiedId> p_shaderID);
+ void addShader(std::shared_ptr<UnifiedId> p_shaderID);
/// \brief attachment of VAO
- void addVAO(std::shared_ptr<smUnifiedId> p_shaderID);
+ void addVAO(std::shared_ptr<UnifiedId> p_shaderID);
- const smColor &getColorDiffuse() const;
+ const Color &getColorDiffuse() const;
- const smColor &getColorAmbient() const;
+ const Color &getColorAmbient() const;
- const smColor &getColorSpecular() const;
+ const Color &getColorSpecular() const;
const float &getShininess() const;
@@ -89,27 +89,27 @@ public:
const float &getLineSize() const;
- const smColor &getNormalColor() const;
+ const Color &getNormalColor() const;
- const smColor &getHighLightColor() const;
+ const Color &getHighLightColor() const;
- const smColor &getVertexColor() const;
+ const Color &getVertexColor() const;
- const smColor &getShadowColor() const;
+ const Color &getShadowColor() const;
const bool &getCastShadow() const;
const bool &getCanGetShadow() const;
- const smColor &getWireFrameColor() const;
+ const Color &getWireFrameColor() const;
const bool &getDebugDraw() const;
- const std::vector<std::shared_ptr<smUnifiedId>> &getShaders() const;
+ const std::vector<std::shared_ptr<UnifiedId>> &getShaders() const;
const std::vector<bool> &getShaderEnable() const;
- const std::vector<std::shared_ptr<smUnifiedId>> &getVAOs() const;
+ const std::vector<std::shared_ptr<UnifiedId>> &getVAOs() const;
const std::vector<bool> &getVAOEnable() const;
@@ -117,46 +117,46 @@ public:
void setLineSize(const float size);
- void setVertexColor(const smColor vertColor);
+ void setVertexColor(const Color vertColor);
- void setHighlightColor(const smColor highlightColor);
+ void setHighlightColor(const Color highlightColor);
- void setNormalColor(const smColor highlightColor);
+ void setNormalColor(const Color highlightColor);
void setShininess(const float s);
void setNormalLength(const float len);
- void setDiffuseColor(const smColor diffColor);
+ void setDiffuseColor(const Color diffColor);
- void setAmbientColor(const smColor ambColor);
+ void setAmbientColor(const Color ambColor);
- void setSpecularColor(const smColor specColor);
+ void setSpecularColor(const Color specColor);
- void setShadowColor(const smColor shadColor);
+ void setShadowColor(const Color shadColor);
- void setWireframeColor(const smColor wireColor);
+ void setWireframeColor(const Color wireColor);
public:
unsigned int renderType; // render type
- smColor colorDiffuse; // diffuse color
- smColor colorAmbient; // ambient color
- smColor colorSpecular; // specular color
- smColor highLightColor; // highlight color
- smColor vertexRenderColor; // vertex color
- smColor shadowColor; // shadow color
+ Color colorDiffuse; // diffuse color
+ Color colorAmbient; // ambient color
+ Color colorSpecular; // specular color
+ Color highLightColor; // highlight color
+ Color vertexRenderColor; // vertex color
+ Color shadowColor; // shadow color
bool castShadow; // object can generate a shadow or not
bool canGetShadow; // object can get the shadow or not
- smColor normalColor; // normal color
- smColor wireFrameColor; // wire frame color
+ Color normalColor; // normal color
+ Color wireFrameColor; // wire frame color
float pointSize; // point size if rendering of vertices are enabled
float lineSize; // line width size
float shininess; // specular shinness
bool debugDraw; // debug draw enabled or not
float normalLength; // length of rendered normals
- std::vector<std::shared_ptr<smUnifiedId>> shaders; // attached shaders
+ std::vector<std::shared_ptr<UnifiedId>> shaders; // attached shaders
std::vector<bool> shaderEnable; // enable/disable any attached shader
- std::vector<std::shared_ptr<smUnifiedId>> VAOs; // stores VAO IDs
+ std::vector<std::shared_ptr<UnifiedId>> VAOs; // stores VAO IDs
std::vector<bool> VAOEnable; // enable/disable any attached VAO
};
diff --git a/src/Core/SDK.cpp b/src/Core/SDK.cpp
index bbfd5c41cb059ff4c9327cf4dcaf4195f1efe603..2e98a24c4e0098502ad2e7a644817580bcf71621 100644
--- a/src/Core/SDK.cpp
+++ b/src/Core/SDK.cpp
@@ -29,18 +29,18 @@
#include <string>
/// \brief SDK is singlenton class
-// std::unique_ptr<smErrorLog> smSDK::errorLog;
-std::once_flag smSDK::sdkCallOnceFlag;
+// std::unique_ptr<ErrorLog> SDK::errorLog;
+std::once_flag SDK::sdkCallOnceFlag;
-smIndiceArray<smMeshHolder> *smSDK::meshesRef;
-smIndiceArray<smModuleHolder> *smSDK::modulesRef;
-smIndiceArray<smObjectSimulatorHolder> *smSDK::objectSimulatorsRef;
-smIndiceArray<smObjectSimulatorHolder>*smSDK::collisionDetectorsRef;
-smIndiceArray<smSceneHolder>*smSDK::scenesRef;
-smIndiceArray<smSceneObjectHolder>*smSDK::sceneObjectsRef;
+IndiceArray<MeshHolder> *SDK::meshesRef;
+IndiceArray<ModuleHolder> *SDK::modulesRef;
+IndiceArray<ObjectSimulatorHolder> *SDK::objectSimulatorsRef;
+IndiceArray<ObjectSimulatorHolder>*SDK::collisionDetectorsRef;
+IndiceArray<SceneHolder>*SDK::scenesRef;
+IndiceArray<SceneObjectHolder>*SDK::sceneObjectsRef;
/// \brief constructor
-smSDK::smSDK()
+SDK::SDK()
{
shutdown = false;
sceneIdCounter = 1;
@@ -50,39 +50,39 @@ smSDK::smSDK()
simulator = nullptr;
sceneList.clear();
- errorLog = std::make_shared<smErrorLog>();
+ errorLog = std::make_shared<ErrorLog>();
// TODO: Fix these! Leaking...
- meshesRef = new smIndiceArray<smMeshHolder>(SIMMEDTK_SDK_MAXMESHES);
- modulesRef = new smIndiceArray<smModuleHolder>(SIMMEDTK_SDK_MAXMODULES) ;
- objectSimulatorsRef = new smIndiceArray<smObjectSimulatorHolder>(SIMMEDTK_SDK_MAXOBJECTSIMULATORS);
- collisionDetectorsRef = new smIndiceArray<smObjectSimulatorHolder>(SIMMEDTK_SDK_MAXOBJECTSIMULATORS) ;
- scenesRef = new smIndiceArray<smSceneHolder>(SIMMEDTK_SDK_MAXSCENES);
- sceneObjectsRef = new smIndiceArray<smSceneObjectHolder>(SIMMEDTK_SDK_MAXSCENEOBJTECTS);
+ meshesRef = new IndiceArray<MeshHolder>(SIMMEDTK_SDK_MAXMESHES);
+ modulesRef = new IndiceArray<ModuleHolder>(SIMMEDTK_SDK_MAXMODULES) ;
+ objectSimulatorsRef = new IndiceArray<ObjectSimulatorHolder>(SIMMEDTK_SDK_MAXOBJECTSIMULATORS);
+ collisionDetectorsRef = new IndiceArray<ObjectSimulatorHolder>(SIMMEDTK_SDK_MAXOBJECTSIMULATORS) ;
+ scenesRef = new IndiceArray<SceneHolder>(SIMMEDTK_SDK_MAXSCENES);
+ sceneObjectsRef = new IndiceArray<SceneObjectHolder>(SIMMEDTK_SDK_MAXSCENEOBJTECTS);
}
-smSDK::~smSDK()
+SDK::~SDK()
{
std::cout << "Killing SDK" << std::endl;
}
/// \brief creates the scene of the simulator
-std::shared_ptr<smScene> smSDK::createScene()
+std::shared_ptr<Scene> SDK::createScene()
{
- auto scene = std::make_shared<smScene>(errorLog);
+ auto scene = std::make_shared<Scene>(errorLog);
registerScene(scene);
scene->setName("Scene" + std::to_string(scene->getUniqueId()->getId()));
return scene;
}
-void smSDK::releaseScene(std::shared_ptr<smScene> scene)
+void SDK::releaseScene(std::shared_ptr<Scene> scene)
{
scene.reset();
}
-std::shared_ptr<smViewerBase> smSDK::createViewer()
+std::shared_ptr<ViewerBase> SDK::createViewer()
{
- this->viewer = smFactory<smCoreClass>::createDefaultAs<smViewerBase>("ViewerBase");
+ this->viewer = Factory<CoreClass>::createDefaultAs<ViewerBase>("ViewerBase");
if (!!this->viewer)
{
this->viewer->log = this->errorLog;
@@ -92,7 +92,7 @@ std::shared_ptr<smViewerBase> smSDK::createViewer()
return this->viewer;
}
-void smSDK::addViewer(std::shared_ptr<smViewerBase> p_viewer)
+void SDK::addViewer(std::shared_ptr<ViewerBase> p_viewer)
{
assert(p_viewer);
@@ -104,17 +104,17 @@ void smSDK::addViewer(std::shared_ptr<smViewerBase> p_viewer)
/// \brief Returns a pointer to the viewer object
///
/// \return Returns a pointer to the viewer object
-std::shared_ptr<smViewerBase> smSDK::getViewerInstance()
+std::shared_ptr<ViewerBase> SDK::getViewerInstance()
{
return this->viewer;
}
/// \brief
-std::shared_ptr<smSimulator> smSDK::createSimulator()
+std::shared_ptr<Simulator> SDK::createSimulator()
{
if (this->simulator == nullptr)
{
- simulator = std::make_shared<smSimulator>(errorLog);
+ simulator = std::make_shared<Simulator>(errorLog);
for (int j = 0; j < (*scenesRef).size(); j++)
{
@@ -128,12 +128,12 @@ std::shared_ptr<smSimulator> smSDK::createSimulator()
}
/// \brief
-void smSDK::updateSceneListAll()
+void SDK::updateSceneListAll()
{
}
/// \brief Initialize all modules registered to the SimMedTK SDK
-void smSDK::initRegisteredModules()
+void SDK::initRegisteredModules()
{
for (int i = 0; i < modulesRef->size(); i++)
@@ -145,14 +145,14 @@ void smSDK::initRegisteredModules()
/** \brief Run the registered modules
*
- * This will not run any modules that inherit smViewerBase as
+ * This will not run any modules that inherit ViewerBase as
* on some platforms (Mac OS X) only the main thread can run
* user interface code. The return value is -1 if the modules
- * are already running or no module inherits smViewerBase.
+ * are already running or no module inherits ViewerBase.
* Otherwise, the index of the last viewer module encountered
* is returned.
*/
-int smSDK::runRegisteredModules()
+int SDK::runRegisteredModules()
{
int viewerIndex = -1;
@@ -163,7 +163,7 @@ int smSDK::runRegisteredModules()
for (int i = 0; i < modulesRef->size(); i++)
{
- auto view = std::dynamic_pointer_cast<smViewerBase>((*modulesRef)[i].module);
+ auto view = std::dynamic_pointer_cast<ViewerBase>((*modulesRef)[i].module);
if (view)
viewerIndex = i;
else
@@ -175,7 +175,7 @@ int smSDK::runRegisteredModules()
}
///\brief shutdowns all the modules
-void smSDK::shutDown()
+void SDK::shutDown()
{
for (int i = 0; i < modulesRef->size(); i++)
@@ -186,7 +186,7 @@ void smSDK::shutDown()
}
/// \brief runs the simulator
-void smSDK::run()
+void SDK::run()
{
updateSceneListAll();
initRegisteredModules();
@@ -208,29 +208,29 @@ void smSDK::run()
}
/// \brief
-void smSDK::addRef(std::shared_ptr<smCoreClass> p_coreClass)
+void SDK::addRef(std::shared_ptr<CoreClass> p_coreClass)
{
++*p_coreClass;
}
/// \brief
-void smSDK::removeRef(std::shared_ptr<smCoreClass> p_coreClass)
+void SDK::removeRef(std::shared_ptr<CoreClass> p_coreClass)
{
--*p_coreClass;
}
-std::shared_ptr<smSDK> smSDK::createSDK()
+std::shared_ptr<SDK> SDK::createSDK()
{
- static std::shared_ptr<smSDK> sdk; ///< singleton sdk.
+ static std::shared_ptr<SDK> sdk; ///< singleton sdk.
std::call_once(sdkCallOnceFlag,
[]
{
- sdk.reset(new smSDK);
+ sdk.reset(new SDK);
});
return sdk;
}
-std::shared_ptr<smSDK> smSDK::createStandardSDK()
+std::shared_ptr<SDK> SDK::createStandardSDK()
{
auto sdk = createSDK();
@@ -242,12 +242,12 @@ std::shared_ptr<smSDK> smSDK::createStandardSDK()
return sdk;
}
-std::shared_ptr<smSDK> smSDK::getInstance()
+std::shared_ptr<SDK> SDK::getInstance()
{
- return smSDK::createSDK();
+ return SDK::createSDK();
}
-void smSDK::terminateAll()
+void SDK::terminateAll()
{
for(int i = 0; i < (*modulesRef).size(); i++)
@@ -270,49 +270,49 @@ void smSDK::terminateAll()
}
/// \brief register functions
-int smSDK::registerMesh(std::shared_ptr<smBaseMesh> p_mesh)
+int SDK::registerMesh(std::shared_ptr<smBaseMesh> p_mesh)
{
- smMeshHolder mh;
+ MeshHolder mh;
mh.mesh = p_mesh;
return meshesRef->checkAndAdd(mh);
}
-int smSDK::registerModule(std::shared_ptr<smModule> p_mod)
+int SDK::registerModule(std::shared_ptr<Module> p_mod)
{
- smModuleHolder mh;
+ ModuleHolder mh;
mh.module = p_mod;
return modulesRef->checkAndAdd(mh);
}
-void smSDK::registerObjectSim(std::shared_ptr<smObjectSimulator> p_os)
+void SDK::registerObjectSim(std::shared_ptr<ObjectSimulator> p_os)
{
- smObjectSimulatorHolder os;
+ ObjectSimulatorHolder os;
os.objectSim = p_os;
objectSimulatorsRef->checkAndAdd(os);
}
-void smSDK::registerCollDet(std::shared_ptr<smObjectSimulator> p_col)
+void SDK::registerCollDet(std::shared_ptr<ObjectSimulator> p_col)
{
- smObjectSimulatorHolder col;
+ ObjectSimulatorHolder col;
col.objectSim = p_col;
collisionDetectorsRef->checkAndAdd(col);
}
-void smSDK::registerScene(std::shared_ptr<smScene> p_sc)
+void SDK::registerScene(std::shared_ptr<Scene> p_sc)
{
- smSceneHolder sc;
+ SceneHolder sc;
sc.scene = p_sc;
scenesRef->checkAndAdd(sc);
}
-void smSDK::registerSceneObject(std::shared_ptr<smSceneObject> p_sco)
+void SDK::registerSceneObject(std::shared_ptr<SceneObject> p_sco)
{
- smSceneObjectHolder sh;
+ SceneObjectHolder sh;
sh.sceneObject = p_sco;
sceneObjectsRef->checkAndAdd(sh);
}
-void smSDK::addSceneActor(std::shared_ptr<smSceneObject> p_sco, std::shared_ptr<smObjectSimulator> p_os, int p_scId)
+void SDK::addSceneActor(std::shared_ptr<SceneObject> p_sco, std::shared_ptr<ObjectSimulator> p_os, int p_scId)
{
assert(p_os);
assert(p_sco);
@@ -327,12 +327,12 @@ void smSDK::addSceneActor(std::shared_ptr<smSceneObject> p_sco, std::shared_ptr<
}
///SDK returns logger for the system
-std::shared_ptr<smErrorLog> smSDK::getErrorLog()
+std::shared_ptr<ErrorLog> SDK::getErrorLog()
{
return errorLog;
};
-std::shared_ptr<smSimulator> smSDK::getSimulator()
+std::shared_ptr<Simulator> SDK::getSimulator()
{
return this->simulator;
}
diff --git a/src/Core/SDK.h b/src/Core/SDK.h
index 3bc4f4f606b48e85a064ffadf34bb0957c9c9c4b..1067899565bfac560eeff75ccf905b5989342252 100644
--- a/src/Core/SDK.h
+++ b/src/Core/SDK.h
@@ -42,9 +42,8 @@
#define SIMMEDTK_SDK_MAXSCENEOBJTECTS 100
class smMotionTransformer;
-class smPipe;
-template<typename T> class smIndiceArray;
-class smScene;
+template<typename T> class IndiceArray;
+class Scene;
/// \brief module registration
enum smSDKReturnType
@@ -53,71 +52,68 @@ enum smSDKReturnType
SIMMEDTK_SDK_MODULEREGISTEREDALREADY
};
-struct smBaseHolder
-{
-};
/// \brief mesh holder
-struct smMeshHolder: public smBaseHolder
+struct MeshHolder
{
- smMeshHolder()
+ MeshHolder()
{
mesh = NULL;
}
std::shared_ptr<smBaseMesh> mesh;
- inline bool operator ==(smMeshHolder &p_param)
+ inline bool operator ==(MeshHolder &p_param)
{
return mesh == p_param.mesh;
}
};
/// \brief module holder
-struct smModuleHolder: public smBaseHolder
+struct ModuleHolder
{
- smModuleHolder()
+ ModuleHolder()
{
module = NULL;
}
- std::shared_ptr<smModule> module;
+ std::shared_ptr<Module> module;
- inline bool operator ==(smModuleHolder &p_param)
+ inline bool operator ==(ModuleHolder &p_param)
{
return module == p_param.module;
}
};
/// \brief simulator holder
-struct smObjectSimulatorHolder: public smBaseHolder
+struct ObjectSimulatorHolder
{
- smObjectSimulatorHolder()
+ ObjectSimulatorHolder()
{
objectSim = NULL;
}
- std::shared_ptr<smObjectSimulator> objectSim;
+ std::shared_ptr<ObjectSimulator> objectSim;
- inline bool operator ==(smObjectSimulatorHolder &p_param)
+ inline bool operator ==(ObjectSimulatorHolder &p_param)
{
return objectSim == p_param.objectSim;
}
};
/// \brief scene holders
-struct smSceneHolder: public smBaseHolder
+struct SceneHolder
{
- smSceneHolder()
+ SceneHolder()
{
scene = NULL;
}
- std::shared_ptr<smScene> scene;
- inline bool operator ==(smSceneHolder &p_param)
+ std::shared_ptr<Scene> scene;
+ inline bool operator ==(SceneHolder &p_param)
{
return scene == p_param.scene;
}
@@ -125,47 +121,25 @@ struct smSceneHolder: public smBaseHolder
};
/// \brief scene object holder
-struct smSceneObjectHolder: public smBaseHolder
+struct SceneObjectHolder
{
- smSceneObjectHolder()
+ SceneObjectHolder()
{
sceneObject = NULL;
}
- std::shared_ptr<smSceneObject> sceneObject;
- inline bool operator ==(smSceneObjectHolder &p_param)
+ std::shared_ptr<SceneObject> sceneObject;
+ inline bool operator ==(SceneObjectHolder &p_param)
{
return sceneObject == p_param.sceneObject;
}
};
-/// \brief pipe holder
-struct smPipeHolder: public smBaseHolder
-{
-
- smPipe *pipe;
-
- smPipeHolder()
- {
- pipe = NULL;
- }
-
- inline bool operator ==(smPipeHolder &p_param)
- {
- return pipe == p_param.pipe;
- }
-
- inline friend bool operator==(smPipeHolder &p_pipe, std::string &p_name)
- {
- return (*(p_pipe.pipe) == p_name);
- }
-
-};
/// \brief SDK class. it is a singlenton class for each machine runs the framework
-class smSDK: public smCoreClass
+class SDK: public CoreClass
{
private:
static std::once_flag sdkCallOnceFlag;
@@ -176,27 +150,27 @@ private:
char argv;
bool isModulesStarted;
- std::shared_ptr<smErrorLog> errorLog; ///< error log
- std::shared_ptr<smViewerBase> viewer; ///< Reference to the sdk viewer object
- std::shared_ptr<smSimulator> simulator; ///< Reference to the sdk simulator object
- std::vector<std::shared_ptr<smScene>> sceneList; ///< scene list
+ std::shared_ptr<ErrorLog> errorLog; ///< error log
+ std::shared_ptr<ViewerBase> viewer; ///< Reference to the sdk viewer object
+ std::shared_ptr<Simulator> simulator; ///< Reference to the sdk simulator object
+ std::vector<std::shared_ptr<Scene>> sceneList; ///< scene list
///holds the references to the entities in the framework
- static smIndiceArray<smMeshHolder> *meshesRef;
- static smIndiceArray<smModuleHolder> *modulesRef;
- static smIndiceArray<smObjectSimulatorHolder> *objectSimulatorsRef;
- static smIndiceArray<smObjectSimulatorHolder> *collisionDetectorsRef;
- static smIndiceArray<smSceneHolder> *scenesRef;
- static smIndiceArray<smSceneObjectHolder> *sceneObjectsRef;
+ static IndiceArray<MeshHolder> *meshesRef;
+ static IndiceArray<ModuleHolder> *modulesRef;
+ static IndiceArray<ObjectSimulatorHolder> *objectSimulatorsRef;
+ static IndiceArray<ObjectSimulatorHolder> *collisionDetectorsRef;
+ static IndiceArray<SceneHolder> *scenesRef;
+ static IndiceArray<SceneObjectHolder> *sceneObjectsRef;
std::vector<std::thread> modules; ///< Stores a list of running module threads
/// \brief constructor
- smSDK();
+ SDK();
public:
/// \brief destructor
- ~smSDK();
+ ~SDK();
/// \brief update scene list. not implemented
void updateSceneListAll();
@@ -206,71 +180,71 @@ public:
void shutDown();
///for now both functions below are the same. But it maybe subject to change.
- static std::shared_ptr<smSDK> createSDK();
+ static std::shared_ptr<SDK> createSDK();
///Creates the sdk, viewer and scene 0
- static std::shared_ptr<smSDK> createStandardSDK();
+ static std::shared_ptr<SDK> createStandardSDK();
- static std::shared_ptr<smSDK> getInstance();
+ static std::shared_ptr<SDK> getInstance();
/// \brief Registers a viewer object with the SDK
///
- void addViewer(std::shared_ptr<smViewerBase> p_viewer);
+ void addViewer(std::shared_ptr<ViewerBase> p_viewer);
/// \brief Creates and registers a viewer object with the SDK
///
- std::shared_ptr<smViewerBase> createViewer();
+ std::shared_ptr<ViewerBase> createViewer();
///SDK returns a pointer to the viewer
- std::shared_ptr<smViewerBase> getViewerInstance();
+ std::shared_ptr<ViewerBase> getViewerInstance();
///SDK creates simualtor
- std::shared_ptr<smSimulator> createSimulator();
+ std::shared_ptr<Simulator> createSimulator();
///SDK creates simualtor
- std::shared_ptr<smSimulator> getSimulator();
+ std::shared_ptr<Simulator> getSimulator();
///SDK creates scene
- std::shared_ptr<smScene> createScene();
+ std::shared_ptr<Scene> createScene();
///SDK creates scene
- std::shared_ptr<smScene> getScene(size_t sceneId)
+ std::shared_ptr<Scene> getScene(size_t sceneId)
{
return scenesRef->getByRef(sceneId).scene;
}
///SDK returns logger for the system
- std::shared_ptr<smErrorLog> getErrorLog();
+ std::shared_ptr<ErrorLog> getErrorLog();
///terminates every module. Do it later on with smMessager
void terminateAll();
///release the scene from the SDK..not implemented yet
- void releaseScene(std::shared_ptr<smScene> scene);
+ void releaseScene(std::shared_ptr<Scene> scene);
/// \brief run the SDK
void run();
/// \brief add reference to a core class
- void addRef(std::shared_ptr<smCoreClass> p_coreClass);
+ void addRef(std::shared_ptr<CoreClass> p_coreClass);
/// \brief removes reference on core class
- void removeRef(std::shared_ptr<smCoreClass> p_coreClass);
+ void removeRef(std::shared_ptr<CoreClass> p_coreClass);
/// \brief register functions
int registerMesh(std::shared_ptr<smBaseMesh> p_mesh);
- int registerModule(std::shared_ptr<smModule> p_mod);
+ int registerModule(std::shared_ptr<Module> p_mod);
- void registerObjectSim(std::shared_ptr<smObjectSimulator> p_os);
+ void registerObjectSim(std::shared_ptr<ObjectSimulator> p_os);
- void registerCollDet(std::shared_ptr<smObjectSimulator> p_col);
+ void registerCollDet(std::shared_ptr<ObjectSimulator> p_col);
- void registerScene(std::shared_ptr<smScene> p_sc);
+ void registerScene(std::shared_ptr<Scene> p_sc);
- void registerSceneObject(std::shared_ptr<smSceneObject> p_sco);
+ void registerSceneObject(std::shared_ptr<SceneObject> p_sco);
- void addSceneActor(std::shared_ptr<smSceneObject> p_sco, std::shared_ptr<smObjectSimulator> p_os, int p_scId=0);
+ void addSceneActor(std::shared_ptr<SceneObject> p_sco, std::shared_ptr<ObjectSimulator> p_os, int p_scId=0);
};
#endif
diff --git a/src/Core/Scene.cpp b/src/Core/Scene.cpp
index d1e3365d4026dbf40c4aa7fa21758e8501308189..544a2f0cd924a7ab6c8ba7b6aab1aadbf3871bef 100644
--- a/src/Core/Scene.cpp
+++ b/src/Core/Scene.cpp
@@ -24,32 +24,32 @@
#include "Scene.h"
-smScene::smScene(std::shared_ptr<smErrorLog> p_log) :
- smCoreClass()
+Scene::Scene(std::shared_ptr<ErrorLog> p_log) :
+ CoreClass()
{
this->log = p_log;
type = core::ClassType::Scene;
sceneUpdatedTimeStamp = 0;
}
-std::shared_ptr<smUnifiedId> smScene::getSceneId()
+std::shared_ptr<UnifiedId> Scene::getSceneId()
{
return this->getUniqueId();
}
-std::vector<std::shared_ptr<smSceneObject>> &smScene::getSceneObject()
+std::vector<std::shared_ptr<SceneObject>> &Scene::getSceneObject()
{
std::lock_guard<std::mutex> lock(sceneLock); //Lock is released when leaves scope
return sceneObjects;
}
-std::shared_ptr<smScene> smScene::operator+=(std::shared_ptr<smSceneObject> p_sceneObject)
+std::shared_ptr<Scene> Scene::operator+=(std::shared_ptr<SceneObject> p_sceneObject)
{
addSceneObject(p_sceneObject);
- return safeDownCast<smScene>();
+ return safeDownCast<Scene>();
}
-void smScene::addSceneObject(std::shared_ptr<smSceneObject> p_sceneObject)
+void Scene::addSceneObject(std::shared_ptr<SceneObject> p_sceneObject)
{
if (p_sceneObject != nullptr)
{
@@ -60,7 +60,7 @@ void smScene::addSceneObject(std::shared_ptr<smSceneObject> p_sceneObject)
}
/// \brief removes the scene object based on scene object id
-void smScene::removeSceneObject(std::shared_ptr<smSceneObject> p_sceneObject)
+void Scene::removeSceneObject(std::shared_ptr<SceneObject> p_sceneObject)
{
if (p_sceneObject != nullptr)
{
@@ -79,7 +79,7 @@ void smScene::removeSceneObject(std::shared_ptr<smSceneObject> p_sceneObject)
}
/// \brief removes the object from the scene based on its object id
-void smScene::removeSceneObject(std::shared_ptr<smUnifiedId> p_sceneObjectId)
+void Scene::removeSceneObject(std::shared_ptr<UnifiedId> p_sceneObjectId)
{
std::lock_guard<std::mutex> lock(sceneLock); //Lock is released when leaves scope
short id = p_sceneObjectId->getId();
@@ -98,7 +98,7 @@ void smScene::removeSceneObject(std::shared_ptr<smUnifiedId> p_sceneObjectId)
sceneUpdatedTimeStamp++;
}
-void smScene::copySceneObjects(std::shared_ptr<smScene> p_scene)
+void Scene::copySceneObjects(std::shared_ptr<Scene> p_scene)
{
p_scene->sceneObjects.clear();
@@ -108,15 +108,15 @@ void smScene::copySceneObjects(std::shared_ptr<smScene> p_scene)
}
}
-std::shared_ptr<smScene> smScene::operator=(std::shared_ptr<smScene> p_scene)
+std::shared_ptr<Scene> Scene::operator=(std::shared_ptr<Scene> p_scene)
{
copySceneObjects(p_scene);
- return safeDownCast<smScene>();
+ return safeDownCast<Scene>();
}
-void smScene::initLights()
+void Scene::initLights()
{
- smVec3f casted;
+ core::Vec3f casted;
for (auto light: lights)
{
@@ -133,16 +133,16 @@ void smScene::initLights()
}
}
-int smScene::addLight(std::shared_ptr<smLight> p_light)
+int Scene::addLight(std::shared_ptr<Light> p_light)
{
lights.push_back(p_light);
lights.back()->renderUsage = GL_LIGHT0 + (lights.size() - 1);
return (lights.size() - 1);
}
-void smScene::refreshLights()
+void Scene::refreshLights()
{
- smVec3f casted;
+ core::Vec3f casted;
for (auto light: lights)
{
@@ -159,22 +159,22 @@ void smScene::refreshLights()
}
}
-void smScene::setLightPos(int p_lightId, smLightPos p_pos)
+void Scene::setLightPos(int p_lightId, smLightPos p_pos)
{
- std::shared_ptr<smLight> temp = lights.at(p_lightId);
+ std::shared_ptr<Light> temp = lights.at(p_lightId);
temp->lightPos = p_pos;
temp->updateDirection();
}
-void smScene::setLightPos(int p_lightId, smLightPos p_pos, smVec3d p_direction)
+void Scene::setLightPos(int p_lightId, smLightPos p_pos, core::Vec3d p_direction)
{
- std::shared_ptr<smLight> temp = lights.at(p_lightId);
+ std::shared_ptr<Light> temp = lights.at(p_lightId);
temp->lightPos = p_pos;
temp->direction = p_direction;
temp->updateDirection();
}
-void smScene::enableLights()
+void Scene::enableLights()
{
glEnable(GL_LIGHTING);
@@ -191,7 +191,7 @@ void smScene::enableLights()
}
}
-void smScene::disableLights()
+void Scene::disableLights()
{
for (auto light: lights)
{
@@ -201,11 +201,11 @@ void smScene::disableLights()
glDisable(GL_LIGHTING);
}
-void smScene::placeLights()
+void Scene::placeLights()
{
for (auto light: lights)
{
- smVec3f casted;
+ core::Vec3f casted;
if (!(light->isEnabled()))
{
continue;
@@ -216,7 +216,7 @@ void smScene::placeLights()
glLightf(light->renderUsage, GL_QUADRATIC_ATTENUATION, light->attn_quadratic);
casted = light->lightPos.getPosition().cast<float>();
- if (light->lightLocationType == SIMMEDTK_LIGHTPOS_EYE)
+ if (light->lightLocationType == Light::Eye)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
@@ -230,14 +230,14 @@ void smScene::placeLights()
}
casted = light->direction.cast<float>();
- if (light->lightType == SIMMEDTK_LIGHT_SPOTLIGHT)
+ if (light->lightType == Light::Spotlight)
{
glLightfv(light->renderUsage, GL_SPOT_DIRECTION, casted.data());
}
}
}
-void smScene::copySceneToLocal(smSceneLocal &p_local)
+void Scene::copySceneToLocal(SceneLocal &p_local)
{
std::lock_guard<std::mutex> lock(this->sceneLock); //Lock is released when leaves scope
diff --git a/src/Core/Scene.h b/src/Core/Scene.h
index 4543663db07e1b65b26c54032dd8df43027b929c..4c38f131914060b09cf27ce0b1e563796ed5469c 100644
--- a/src/Core/Scene.h
+++ b/src/Core/Scene.h
@@ -32,7 +32,6 @@
// SimMedTK includes
#include "Config.h"
#include "CoreClass.h"
-#include "Pipe.h"
#include "ErrorLog.h"
#include "Light.h"
#include "SceneObject.h"
@@ -42,64 +41,64 @@
#include "Event/MouseMoveEvent.h"
#include "Rendering/Camera.h"
-class smScene;
-class smSDK;
+class Scene;
+class SDK;
-struct smSceneLocal
+struct SceneLocal
{
public:
int id;
- smSceneLocal()
+ SceneLocal()
{
sceneUpdatedTimeStamp = 0;
}
- bool operator ==(smSceneLocal &p_param)
+ bool operator ==(SceneLocal &p_param)
{
return id == p_param.id;
}
- std::vector<std::shared_ptr<smSceneObject>> sceneObjects;
+ std::vector<std::shared_ptr<SceneObject>> sceneObjects;
unsigned int sceneUpdatedTimeStamp;
};
///Physics class should have all parameters such as material properties, mesh etc.. for
///note that when you remove the Physics do not delete it.Since propagation of the physics over the
-class smScene: public smCoreClass
+class Scene: public CoreClass
{
public:
- smScene(std::shared_ptr<smErrorLog> p_log = nullptr);
+ Scene(std::shared_ptr<ErrorLog> p_log = nullptr);
- virtual ~smScene(){}
+ virtual ~Scene(){}
///add physics in the scene
- void addSceneObject(std::shared_ptr<smSceneObject> p_sceneObject);
+ void addSceneObject(std::shared_ptr<SceneObject> p_sceneObject);
///remove the phyics in the scene.
///The removal of the phsyics in the scene needs some sync all over the modules
///so not implemented yet. Be aware that when you remove the phyics do no free the smPhysics class
- void removeSceneObject(std::shared_ptr<smSceneObject> p_sceneObject);
+ void removeSceneObject(std::shared_ptr<SceneObject> p_sceneObject);
///the same as
- void removeSceneObject(std::shared_ptr<smUnifiedId> p_objectId);
+ void removeSceneObject(std::shared_ptr<UnifiedId> p_objectId);
///in order to get the phsyics in the scene call this function.
///it is thread safe. but it shouldn't be called frequently.
///it should be called in the initialization of the viewer, simulation or any other module.
///and the the list should be stored internally.
///The scene list removal will be taken care of later since the list should be update.
- std::vector<std::shared_ptr<smSceneObject>> &getSceneObject();
+ std::vector<std::shared_ptr<SceneObject>> &getSceneObject();
/// \brief retursn scene id
- std::shared_ptr<smUnifiedId> getSceneId();
+ std::shared_ptr<UnifiedId> getSceneId();
///Same functionality as addSceneObject
- std::shared_ptr<smScene> operator+=(std::shared_ptr<smSceneObject> p_sceneObject);
+ std::shared_ptr<Scene> operator+=(std::shared_ptr<SceneObject> p_sceneObject);
- void copySceneObjects(std::shared_ptr<smScene> p_scene);
+ void copySceneObjects(std::shared_ptr<Scene> p_scene);
- std::shared_ptr<smScene> operator=(std::shared_ptr<smScene> p_scene);
+ std::shared_ptr<Scene> operator=(std::shared_ptr<Scene> p_scene);
/// \brief Initializes lights for rendering
void initLights();
@@ -122,14 +121,14 @@ public:
void placeLights();
/// \brief addlight
- int addLight(std::shared_ptr<smLight> p_light);
+ int addLight(std::shared_ptr<Light> p_light);
/// \brief refresh lights. updates light position based on the gl matrix
void refreshLights();
void setLightPos(int p_lightId, smLightPos p_pos);
- void setLightPos(int p_lightId, smLightPos p_pos, smVec3d p_direction);
+ void setLightPos(int p_lightId, smLightPos p_pos, core::Vec3d p_direction);
std::shared_ptr<smCamera> getCamera()
{
@@ -142,13 +141,13 @@ public:
}
/// \brief adds the objects in the local scene storage
- void copySceneToLocal(smSceneLocal &p_local);
+ void copySceneToLocal(SceneLocal &p_local);
private:
std::shared_ptr<smCamera> camera; //Camera for the scene
- std::vector<std::shared_ptr<smLight> > lights; //Lights in the scene
- std::vector<std::shared_ptr<smSceneObject>> sceneObjects; // scene objects storage
- std::shared_ptr<smErrorLog> log; // error logging
+ std::vector<std::shared_ptr<Light> > lights; //Lights in the scene
+ std::vector<std::shared_ptr<SceneObject>> sceneObjects; // scene objects storage
+ std::shared_ptr<ErrorLog> log; // error logging
std::mutex sceneLock; // scene list lock for thread safe manipulation of the scene
unsigned int sceneUpdatedTimeStamp; // last updated time stamp
};
diff --git a/src/Core/SceneObject.cpp b/src/Core/SceneObject.cpp
index f217d0eef12ff8d4e9f6fdf4eafdf79c8f6535b1..f3538f55ce8d7818173f1592f33746a29be46a26 100644
--- a/src/Core/SceneObject.cpp
+++ b/src/Core/SceneObject.cpp
@@ -25,79 +25,79 @@
#include "ObjectSimulator.h"
#include "SDK.h"
-smSceneObject::smSceneObject()
+SceneObject::SceneObject()
{
type = core::ClassType::Unknown;
isActive = true;
objectSim = nullptr;
customRender = nullptr;
- // smSDK::getInstance()->registerSceneObject(safeDownCast<smSceneObject>());
+ // SDK::getInstance()->registerSceneObject(safeDownCast<SceneObject>());
flags.isViewerInit = false;
flags.isSimulatorInit = false;
name = "SceneObject" + std::to_string(this->getUniqueId()->getId());
}
-smSceneObject::~smSceneObject()
+SceneObject::~SceneObject()
{
}
-void smSceneObject::attachObjectSimulator(std::shared_ptr<smObjectSimulator> p_objectSim)
+void SceneObject::attachObjectSimulator(std::shared_ptr<ObjectSimulator> p_objectSim)
{
- p_objectSim->addObject(safeDownCast<smSceneObject>());
+ p_objectSim->addObject(safeDownCast<SceneObject>());
}
-void smSceneObject::releaseObjectSimulator()
+void SceneObject::releaseObjectSimulator()
{
- objectSim->removeObject(safeDownCast<smSceneObject>());
+ objectSim->removeObject(safeDownCast<SceneObject>());
objectSim = nullptr;
}
-std::shared_ptr<smObjectSimulator> smSceneObject::getObjectSimulator()
+std::shared_ptr<ObjectSimulator> SceneObject::getObjectSimulator()
{
return objectSim;
}
-void smSceneObject::attachCustomRenderer(std::shared_ptr<smCustomRenderer> p_customeRenderer)
+void SceneObject::attachCustomRenderer(std::shared_ptr<smCustomRenderer> p_customeRenderer)
{
customRender = p_customeRenderer;
}
-void smSceneObject::releaseCustomeRenderer()
+void SceneObject::releaseCustomeRenderer()
{
customRender = nullptr;
}
-int smSceneObject::getObjectId()
+int SceneObject::getObjectId()
{
return this->getUniqueId()->getId();
}
-smUnifiedId::Pointer smSceneObject::getObjectUnifiedID()
+UnifiedId::Pointer SceneObject::getObjectUnifiedID()
{
- return std::make_shared<smUnifiedId>();
+ return std::make_shared<UnifiedId>();
}
-smStdVector3d & smSceneObject::getLocalVertices()
+core::StdVector3d & SceneObject::getLocalVertices()
{
return localVertices;
}
-smObjectInitFlags & smSceneObject::getFlags()
+ObjectInitFlags & SceneObject::getFlags()
{
return flags;
}
-std::shared_ptr<smCustomRenderer> smSceneObject::getRenderer()
+std::shared_ptr<smCustomRenderer> SceneObject::getRenderer()
{
return customRender;
}
-void smSceneObject::freeze()
+void SceneObject::freeze()
{
this->isActive = false;
}
-void smSceneObject::activate()
+void SceneObject::activate()
{
this->isActive = true;
}
diff --git a/src/Core/SceneObject.h b/src/Core/SceneObject.h
index 2ba1cd5587a17954a1698c5e70e0e3fef13b6952..8099fd8b37619baf08bf829068bae16dfa97105d 100644
--- a/src/Core/SceneObject.h
+++ b/src/Core/SceneObject.h
@@ -36,11 +36,11 @@
#include "Rendering/CustomRenderer.h"
//forward class declaration
-class smObjectSimulator;
+class ObjectSimulator;
class smCustomRenderer;
///booleans for objects indicate whether they're initialized or not.
-struct smObjectInitFlags
+struct ObjectInitFlags
{
bool isViewerInit;
bool isSimulatorInit;
@@ -49,20 +49,20 @@ struct smObjectInitFlags
/// \brief Base class for any object in the scene both
/// physical and otherwise
-class smSceneObject : public smCoreClass
+class SceneObject : public CoreClass
{
- friend class smSDK;
- friend class smViewerBase;
+ friend class SDK;
+ friend class ViewerBase;
friend class smViewer;
- friend class smScene;
- friend class smObjectSimulator;
+ friend class Scene;
+ friend class ObjectSimulator;
public:
/// \brief constructor
- smSceneObject();
+ SceneObject();
/// \brief destructor
- ~smSceneObject();
+ ~SceneObject();
/// \brief Abstract object initialization
virtual void initialize() = 0;
@@ -74,7 +74,7 @@ public:
/// \brief attach simulator to the object.
/// This function that needs to be called to associate the simulator to the object
- virtual void attachObjectSimulator(std::shared_ptr<smObjectSimulator> p_objectSim);
+ virtual void attachObjectSimulator(std::shared_ptr<ObjectSimulator> p_objectSim);
/// \brief to release the simulator
virtual void releaseObjectSimulator();
@@ -86,7 +86,7 @@ public:
void activate();
/// \brief get object simulator
- std::shared_ptr<smObjectSimulator> getObjectSimulator();
+ std::shared_ptr<ObjectSimulator> getObjectSimulator();
/// \brief attach custome renderer for the object.
/// If the default rendering is not helpful
@@ -99,11 +99,11 @@ public:
int getObjectId();
/// \brief get unified object id
- smUnifiedId::Pointer getObjectUnifiedID();
+ UnifiedId::Pointer getObjectUnifiedID();
- smStdVector3d &getLocalVertices();
+ core::StdVector3d &getLocalVertices();
- smObjectInitFlags &getFlags();
+ ObjectInitFlags &getFlags();
std::shared_ptr<smCustomRenderer> getRenderer();
@@ -117,7 +117,7 @@ public:
///this function may not be used
///every Scene Object should know how to clone itself. Since the data structures will be
///in the beginning of the modules(such as simulator, viewer, collision etc.)
- virtual std::shared_ptr<smSceneObject> clone() = 0;
+ virtual std::shared_ptr<SceneObject> clone() = 0;
/// \brief print information related the scene object
virtual void printInfo() const = 0;
@@ -126,10 +126,10 @@ protected:
bool isActive;
private:
- std::shared_ptr<smObjectSimulator> objectSim; // object simulator that will simulate the object
+ std::shared_ptr<ObjectSimulator> objectSim; // object simulator that will simulate the object
std::shared_ptr<smCustomRenderer> customRender;
- smStdVector3d localVertices; // local copy of vertices
- smObjectInitFlags flags;
+ core::StdVector3d localVertices; // local copy of vertices
+ ObjectInitFlags flags;
};
#endif
diff --git a/src/Core/Scheduler.h b/src/Core/Scheduler.h
index f733af9ff929783f730e0eadde834bd02e1d2d63..fadc659518ac51813156cd475620a23041696b65 100644
--- a/src/Core/Scheduler.h
+++ b/src/Core/Scheduler.h
@@ -24,7 +24,7 @@
#ifndef SMSCHEDULER_H
#define SMSCHEDULER_H
-class smSimulator;
+class Simulator;
enum smSchedulingPriority
{
@@ -33,7 +33,7 @@ enum smSchedulingPriority
SIMMEDTK_SCHEDULING_BACKGROUND
};
-struct smScheduleGroup
+struct ScheduleGroup
{
#ifdef _WIN32
@@ -48,7 +48,7 @@ public:
short minObservedFPSThreadIndex;
short maxObservedFPSThreadIndex;
- smScheduleGroup()
+ ScheduleGroup()
{
totalThreads = 1;
minTargetFPS = maxTargetFPS = maxObservedFPS = minObservedFPS = 0;
@@ -60,7 +60,7 @@ public:
}
float maxTargetFPS;
float minTargetFPS;
- friend class smSimulator;
+ friend class Simulator;
};
-#endif
\ No newline at end of file
+#endif
diff --git a/src/Core/Simulator.cpp b/src/Core/Simulator.cpp
index e9bbad19cce75d68115978ae502552b8040d5d85..04a3aa0fbdfe1fe5372d2d0032f73f2e384c9671 100644
--- a/src/Core/Simulator.cpp
+++ b/src/Core/Simulator.cpp
@@ -24,18 +24,18 @@
#include "Simulator.h"
/// \brief starts the tasks with the threads from thread pool
-void smSimulator::beginFrame()
+void Simulator::beginFrame()
{
frameCounter++;
}
/// \brief waits until the frame ends
-void smSimulator::endFrame()
+void Simulator::endFrame()
{
}
-void smSimulator::initAsyncThreadPool()
+void Simulator::initAsyncThreadPool()
{
asyncThreadPoolSize = 0;
@@ -51,11 +51,11 @@ void smSimulator::initAsyncThreadPool()
}
/// \brief the main simulation loop
-void smSimulator::run()
+void Simulator::run()
{
std::vector< std::future<int> > results;
std::vector< std::future<int> > asyncResults;
- std::shared_ptr<smObjectSimulator> objectSimulator;
+ std::shared_ptr<ObjectSimulator> objectSimulator;
if (isInitialized == false)
{
@@ -64,7 +64,7 @@ void smSimulator::run()
}
results.reserve(this->simulators.size()); //make space for results
- smSimulationMainParam param;
+ SimulationMainParam param;
param.sceneList = sceneList;
//Start up async threads
@@ -137,7 +137,7 @@ void smSimulator::run()
}
results.clear(); //clear the results buffer for new
- std::shared_ptr<smCollisionDetection> collisionDetection;
+ std::shared_ptr<CollisionDetection> collisionDetection;
for (size_t i = 0; i < this->collisionDetectors.size(); i++)
{
collisionDetection = collisionDetectors[i];
@@ -172,7 +172,7 @@ void smSimulator::run()
//}
results.clear(); //clear the results buffer for new
- std::shared_ptr<smContactHandling> contactHandling;
+ std::shared_ptr<ContactHandling> contactHandling;
for (size_t i = 0; i < this->contactHandlers.size(); i++)
{
contactHandlers[i]->resolveContacts();
@@ -195,32 +195,32 @@ void smSimulator::run()
}
/// \brief
-void smSimulator::registerObjectSimulator(std::shared_ptr<smObjectSimulator> objectSimulator)
+void Simulator::registerObjectSimulator(std::shared_ptr<ObjectSimulator> objectSimulator)
{
simulators.emplace_back(objectSimulator);
objectSimulator->enabled = true;
}
/// \brief
-void smSimulator::registerCollisionDetection(std::shared_ptr<smCollisionDetection> p_collisionDetection)
+void Simulator::registerCollisionDetection(std::shared_ptr<CollisionDetection> p_collisionDetection)
{
collisionDetectors.emplace_back(p_collisionDetection);
}
/// \brief
-void smSimulator::registerContactHandling(std::shared_ptr<smContactHandling> p_contactHandling)
+void Simulator::registerContactHandling(std::shared_ptr<ContactHandling> p_contactHandling)
{
contactHandlers.emplace_back(p_contactHandling);
}
/// \brief
-void smSimulator::registerSimulationMain(std::shared_ptr<smSimulationMain> p_main)
+void Simulator::registerSimulationMain(std::shared_ptr<SimulationMain> p_main)
{
changedMain = p_main;
this->changedMainTimeStamp++;
}
-void smSimulator::init()
+void Simulator::init()
{
if(isInitialized == true)
{
@@ -241,7 +241,7 @@ void smSimulator::init()
isInitialized = true;
}
-smSimulator::smSimulator(std::shared_ptr< smErrorLog > p_log)
+Simulator::Simulator(std::shared_ptr< ErrorLog > p_log)
{
type = core::ClassType::Simulator;
isInitialized = false;
@@ -255,7 +255,7 @@ smSimulator::smSimulator(std::shared_ptr< smErrorLog > p_log)
asyncThreadPoolSize = 0;
}
-void smSimulator::setMaxThreadCount(int p_threadMaxCount)
+void Simulator::setMaxThreadCount(int p_threadMaxCount)
{
if(p_threadMaxCount < 0)
{
@@ -267,7 +267,7 @@ void smSimulator::setMaxThreadCount(int p_threadMaxCount)
}
}
-void smSimulator::exec()
+void Simulator::exec()
{
if(isInitialized)
{
diff --git a/src/Core/Simulator.h b/src/Core/Simulator.h
index 85156d3744dae697323c1c42ffdac66b9cae37d4..04c53f0c89bc325e1cac0a56294b453cddacf18d 100644
--- a/src/Core/Simulator.h
+++ b/src/Core/Simulator.h
@@ -37,21 +37,21 @@
#include "CollisionDetection.h"
#include "ContactHandling.h"
-struct smSimulationMainParam
+struct SimulationMainParam
{
- std::vector<std::shared_ptr<smScene>> sceneList;
+ std::vector<std::shared_ptr<Scene>> sceneList;
};
/// \brief call back for simulator module. simulateMain is called in every simulation module frame.
-class smSimulationMain
+class SimulationMain
{
public:
- virtual void simulateMain(const smSimulationMainParam &) = 0;
+ virtual void simulateMain(const SimulationMainParam &) = 0;
};
-class smSimulator: public smModule
+class Simulator: public Module
{
- friend class smSDK;
+ friend class SDK;
private:
/// \brief Initializes up asynchronous threadpool
@@ -62,20 +62,20 @@ public:
void init();
/// \brief constructor gets error log
- smSimulator(std::shared_ptr<smErrorLog> p_log);
+ Simulator(std::shared_ptr<ErrorLog> p_log);
void setMaxThreadCount(int p_threadMaxCount);
///Simualtor registers the simulator and schedules it.
///the function is reentrant it is not thread safe.
- void registerObjectSimulator(std::shared_ptr<smObjectSimulator> objectSimulator);
+ void registerObjectSimulator(std::shared_ptr<ObjectSimulator> objectSimulator);
- void registerCollisionDetection(std::shared_ptr<smCollisionDetection> p_collisionDetection);
+ void registerCollisionDetection(std::shared_ptr<CollisionDetection> p_collisionDetection);
- void registerContactHandling(std::shared_ptr<smContactHandling> p_contactHandling);
+ void registerContactHandling(std::shared_ptr<ContactHandling> p_contactHandling);
///Registration of the Simulation main. It is called in each and every frame
- void registerSimulationMain(std::shared_ptr<smSimulationMain> p_main);
+ void registerSimulationMain(std::shared_ptr<SimulationMain> p_main);
/// \brief the actual implementation of the simulator module resides in run function
void run();
@@ -89,22 +89,22 @@ public:
/// \brief this is called by SDK. it lanuches the simulator module
virtual void exec();
- void addCollisionPair(std::shared_ptr<smCollisionPair> pair)
+ void addCollisionPair(std::shared_ptr<CollisionPair> pair)
{
collisionPairs.emplace_back(pair);
}
private:
- std::vector<std::shared_ptr<smObjectSimulator>> simulators;
- std::vector<std::shared_ptr<smCollisionDetection>> collisionDetectors;
- std::vector<std::shared_ptr<smCollisionPair>> collisionPairs;
- std::vector<std::shared_ptr<smContactHandling>> contactHandlers;
+ std::vector<std::shared_ptr<ObjectSimulator>> simulators;
+ std::vector<std::shared_ptr<CollisionDetection>> collisionDetectors;
+ std::vector<std::shared_ptr<CollisionPair>> collisionPairs;
+ std::vector<std::shared_ptr<ContactHandling>> contactHandlers;
std::unique_ptr<ThreadPool> threadPool; //
std::unique_ptr<ThreadPool> asyncPool; // asynchronous thread pool
- std::shared_ptr<smErrorLog> log; // error log
- std::shared_ptr<smSimulationMain> main; // Simulation main registration
- std::shared_ptr<smSimulationMain> changedMain; // for updating the main in real-time. The change has effect after a frame is completed
+ std::shared_ptr<ErrorLog> log; // error log
+ std::shared_ptr<SimulationMain> main; // Simulation main registration
+ std::shared_ptr<SimulationMain> changedMain; // for updating the main in real-time. The change has effect after a frame is completed
unsigned int frameCounter; // module keeps track of frame number
int maxThreadCount; // maximum number of threads
diff --git a/src/Core/StaticSceneObject.cpp b/src/Core/StaticSceneObject.cpp
index 6345aa90cf4b2739edd5250f8082dba5e8fab51f..fc63f05ed8253809a36b1d0dee3a1ea8bc0da153 100644
--- a/src/Core/StaticSceneObject.cpp
+++ b/src/Core/StaticSceneObject.cpp
@@ -24,58 +24,58 @@
#include "StaticSceneObject.h"
#include "Factory.h"
-smStaticSceneObject::smStaticSceneObject(std::shared_ptr<smErrorLog> p_log) : smSceneObject()
+StaticSceneObject::StaticSceneObject(std::shared_ptr<ErrorLog> p_log) : SceneObject()
{
type = core::ClassType::StaticSceneObject;
name = "Static_SceneObject_" + std::to_string(this->getUniqueId()->getId());
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createSubclass(
+ Factory<RenderDelegate>::createSubclass(
"RenderDelegate","StaticSceneObjectRenderDelegate"));
}
-smStaticSceneObject::~smStaticSceneObject()
+StaticSceneObject::~StaticSceneObject()
{
}
-void smStaticSceneObject::unSerialize ( void* /*p_memoryBlock*/ )
+void StaticSceneObject::unSerialize ( void* /*p_memoryBlock*/ )
{
}
-void smStaticSceneObject::serialize ( void* /*p_memoryBlock*/ )
+void StaticSceneObject::serialize ( void* /*p_memoryBlock*/ )
{
}
-void smStaticSceneObject::initialize()
+void StaticSceneObject::initialize()
{
}
-void smStaticSceneObject::loadInitialStates()
+void StaticSceneObject::loadInitialStates()
{
}
-bool smStaticSceneObject::configure(const std::string ConfigFile)
+bool StaticSceneObject::configure(const std::string ConfigFile)
{
return false;
}
-std::shared_ptr<smSceneObject> smStaticSceneObject::clone()
+std::shared_ptr<SceneObject> StaticSceneObject::clone()
{
- return safeDownCast<smSceneObject>();
+ return safeDownCast<SceneObject>();
}
-void smStaticSceneObject::setModel(std::shared_ptr<smModelRepresentation> model)
+void StaticSceneObject::setModel(std::shared_ptr<ModelRepresentation> model)
{
this->staticModel = model;
}
-std::shared_ptr<smModelRepresentation> smStaticSceneObject::getModel()
+std::shared_ptr<ModelRepresentation> StaticSceneObject::getModel()
{
return staticModel;
}
-void smStaticSceneObject::printInfo() const
+void StaticSceneObject::printInfo() const
{
std::cout << "\t-------------------------------------\n";
std::cout << "\t Name : " << this->getName() << std::endl;
diff --git a/src/Core/StaticSceneObject.h b/src/Core/StaticSceneObject.h
index 183f21312fbe89f87b5619586e8777a679807cf2..e80d9fa0fc43e188e801eff8fba1cad38a394930 100644
--- a/src/Core/StaticSceneObject.h
+++ b/src/Core/StaticSceneObject.h
@@ -34,20 +34,20 @@
namespace mstk{
namespace Event{
- class smEvent;
+ class Event;
}
}
/// \brief static scene object
-class smStaticSceneObject: public smSceneObject
+class StaticSceneObject: public SceneObject
{
public:
/// \brief constructor
- smStaticSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ StaticSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
/// \brief destructor
- ~smStaticSceneObject();
+ ~StaticSceneObject();
//not implemented yet..tansel
virtual void serialize(void *p_memoryBlock) override;
@@ -56,7 +56,7 @@ public:
virtual void unSerialize(void *p_memoryBlock) override;
///not implemented yet.
- virtual std::shared_ptr<smSceneObject> clone() override;
+ virtual std::shared_ptr<SceneObject> clone() override;
/// \brief Initialize the parameters and properties of the simulation object
void initialize() override;
@@ -69,15 +69,15 @@ public:
void printInfo() const override;
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent>) override {}
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event>) override {}
- void setModel(std::shared_ptr<smModelRepresentation> model);
+ void setModel(std::shared_ptr<ModelRepresentation> model);
- std::shared_ptr<smModelRepresentation> getModel();
+ std::shared_ptr<ModelRepresentation> getModel();
public:
/// \brief static scene object contains a mesh
- std::shared_ptr<smModelRepresentation> staticModel;
+ std::shared_ptr<ModelRepresentation> staticModel;
};
#endif
diff --git a/src/Core/Synchronization.h b/src/Core/Synchronization.h
index 467deb430348c3dd8622d467cb0b3e09e2573b7d..0f029c6e0fccbc476027dd1bc56432ca3914d6dd 100644
--- a/src/Core/Synchronization.h
+++ b/src/Core/Synchronization.h
@@ -38,7 +38,7 @@
///simply set number of worker threads in the constructor
///then each worker threads should call waitTaskStart function when the taks
///is completed they should call signalTaskDone
-class smSynchronization: public smCoreClass
+class Synchronization: public CoreClass
{
std::condition_variable taskDone;
@@ -53,7 +53,7 @@ class smSynchronization: public smCoreClass
public:
/// \param p_threadsForWorkers choose the number of worker threads
- smSynchronization(int p_threadsForWorkers)
+ Synchronization(int p_threadsForWorkers)
{
type = core::ClassType::Synchronization;
totalWorkers = p_threadsForWorkers;
@@ -126,8 +126,8 @@ public:
void startTasksandSignalEvent(int moduleId)
{
- smEvent *eventSynch;
- eventSynch = new smEvent();
+ Event *eventSynch;
+ eventSynch = new Event();
eventSynch->eventType = SIMMEDTK_EVENTTYPE_SYNCH;
eventSynch->senderId = moduleId;
eventSynch->senderType = SIMMEDTK_SENDERTYPE_EVENTSOURCE;
diff --git a/src/Core/Texture.h b/src/Core/Texture.h
index 8f302ec7c19bc1791a2d11e799b361fb6e28ce3e..c751a22483a6c5499b1c4b6410ecec14e2317761 100644
--- a/src/Core/Texture.h
+++ b/src/Core/Texture.h
@@ -41,7 +41,7 @@ enum ImageColorType
SIMMEDTK_IMAGECOLOR_DEPTH
};
/// \brief texture structure
-struct smTexture
+struct Texture
{
/// \brief texture file name
std::string textureFileName;
@@ -60,9 +60,9 @@ struct smTexture
/// \brief true when initilized
bool isInitialized;
/// \brief to make a copy of the texture.
- inline smTexture *copy()
+ inline Texture *copy()
{
- smTexture *myCopy = new smTexture();
+ Texture *myCopy = new Texture();
myCopy->textureFileName = this->textureFileName;
myCopy->textureGLId = this->textureGLId;
myCopy->width = this->width;
diff --git a/src/Core/Timer.cpp b/src/Core/Timer.cpp
index b953c512283c862f6eb09c0e9932864d65678669..5322b7e0a71fafac9d8603724aad5270945cc2f4 100644
--- a/src/Core/Timer.cpp
+++ b/src/Core/Timer.cpp
@@ -24,15 +24,15 @@
// SimMedTK includes
#include "Timer.h"
-smTimer::smTimer()
+Timer::Timer()
{
start();
}
-void smTimer::start()
+void Timer::start()
{
begin = ClockType::now();
}
-long double smTimer::elapsed()
+long double Timer::elapsed()
{
long double deltaSec;
TimePointType now = ClockType::now();
diff --git a/src/Core/Timer.h b/src/Core/Timer.h
index efa6263d25527644d850df5cf2feda2b5dca2d9d..f4bfd385e37ac8abb4ca15a64ab8d62406940635 100644
--- a/src/Core/Timer.h
+++ b/src/Core/Timer.h
@@ -32,7 +32,7 @@
#include "CoreClass.h"
/// \brief timer class
-class smTimer: public smCoreClass
+class Timer: public CoreClass
{
public:
using ClockType = std::chrono::high_resolution_clock;
@@ -41,7 +41,7 @@ public:
using PeriodType = ClockType::period;
/// \brief constructor
- smTimer();
+ Timer();
/// \brief start the timer
void start();
diff --git a/src/Core/UnifiedId.cpp b/src/Core/UnifiedId.cpp
index 6456060fea173686e0a61f4f7e3340d1e9223336..6f4ef01a7a111e35b85fd63ba4fa54f3478e69b3 100644
--- a/src/Core/UnifiedId.cpp
+++ b/src/Core/UnifiedId.cpp
@@ -23,16 +23,16 @@
#include "UnifiedId.h"
-std::atomic_int smUnifiedId::IDcounter;
-smUnifiedId::smUnifiedId()
+std::atomic_int UnifiedId::IDcounter;
+UnifiedId::UnifiedId()
{
ID = IDcounter.fetch_add(1);
}
-bool smUnifiedId::operator==(const smUnifiedId* id)
+bool UnifiedId::operator==(const UnifiedId* id)
{
return (ID == id->getId());
}
-bool smUnifiedId::operator!=(const short int& id)
+bool UnifiedId::operator!=(const short int& id)
{
return (ID != id);
}
diff --git a/src/Core/UnifiedId.h b/src/Core/UnifiedId.h
index 398d082dd709c1e892483f5b6d4124b1e1cd0a82..18bc2d86e18b31b6c2d2fdab79016c6d747012d7 100644
--- a/src/Core/UnifiedId.h
+++ b/src/Core/UnifiedId.h
@@ -30,17 +30,17 @@
/// \brief This class creates a unique unified id of each object in the framework
-struct smUnifiedId
+struct UnifiedId
{
public:
- typedef std::shared_ptr<smUnifiedId> Pointer;
+ typedef std::shared_ptr<UnifiedId> Pointer;
public:
/// \brief constructor
- smUnifiedId();
+ UnifiedId();
- /// \brief comparison with another std::shared_ptr<smUnifiedId>
- bool operator==(const smUnifiedId *id);
+ /// \brief comparison with another std::shared_ptr<UnifiedId>
+ bool operator==(const UnifiedId *id);
/// \brief comparison with id
bool operator!=(const short &id);
@@ -56,8 +56,8 @@ private:
static std::atomic_int IDcounter; // atomic integer counter that is used to assign a unique number for each object
short ID; // unique ID
- smUnifiedId(const smUnifiedId&) = delete;
- smUnifiedId &operator=(const smUnifiedId&) = delete;
+ UnifiedId(const UnifiedId&) = delete;
+ UnifiedId &operator=(const UnifiedId&) = delete;
};
#endif // SMUNIFIEDID_H
diff --git a/src/Core/UnitTests/Factory.cpp b/src/Core/UnitTests/Factory.cpp
index c8aa4bde466c29c29b3eccd2d178e5d378d302d1..c6b221c9a1df4a08587bd781a6c72ca27f314064 100644
--- a/src/Core/UnitTests/Factory.cpp
+++ b/src/Core/UnitTests/Factory.cpp
@@ -4,7 +4,7 @@
#include <iostream>
-class abstract : public smCoreClass
+class abstract : public CoreClass
{
public:
virtual std::string stupid() const = 0;
@@ -24,8 +24,8 @@ public:
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_abstract_children)
- SIMMEDTK_REGISTER_CLASS(smCoreClass, abstract, A, 65);
- SIMMEDTK_REGISTER_CLASS(smCoreClass, abstract, B, 66);
+ SIMMEDTK_REGISTER_CLASS(CoreClass, abstract, A, 65);
+ SIMMEDTK_REGISTER_CLASS(CoreClass, abstract, B, 66);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
@@ -36,23 +36,23 @@ go_bandit([](){
SIMMEDTK_RUN_LOADER(register_abstract_children);
it("shows 2 subclasses of \"abstract\"", [&]() {
- AssertThat(smFactory<smCoreClass>::optionsForClass("abstract").size(), Equals(2));
+ AssertThat(Factory<CoreClass>::optionsForClass("abstract").size(), Equals(2));
});
it("creates a non-NULL default class instance", [&]() {
- AssertThat(!!smFactory<smCoreClass>::createDefault("abstract").get(), IsTrue());
+ AssertThat(!!Factory<CoreClass>::createDefault("abstract").get(), IsTrue());
});
it("creates the *proper* non-NULL default class instance", [&]() {
- AssertThat(smFactory<smCoreClass>::createDefaultAs<abstract>("abstract")->stupid()[0], Equals('A'));
+ AssertThat(Factory<CoreClass>::createDefaultAs<abstract>("abstract")->stupid()[0], Equals('A'));
});
it("creates the proper non-NULL *specified group* class instance", [&]() {
- AssertThat(smFactory<smCoreClass>::createSubclassForGroupAs<abstract>("abstract", 66)->stupid()[0], Equals('B'));
+ AssertThat(Factory<CoreClass>::createSubclassForGroupAs<abstract>("abstract", 66)->stupid()[0], Equals('B'));
});
it("creates a non-NULL instance given only a concrete class name", [&]() {
- AssertThat(smFactory<smCoreClass>::createConcreteClassAs<A>("A")->stupid()[0], Equals('A'));
+ AssertThat(Factory<CoreClass>::createConcreteClassAs<A>("A")->stupid()[0], Equals('A'));
});
});
diff --git a/src/Core/Vector.h b/src/Core/Vector.h
index c1a61981cdcdbd9d39c3d6d52cdd5a6e3ef1039d..b7219796841ce51dcbfc2300e6fd2b6532cef401 100644
--- a/src/Core/Vector.h
+++ b/src/Core/Vector.h
@@ -33,75 +33,75 @@
// namespace SimMedTK
// {
-// namespace Math
-// {
/// Aliases for vectors
/// A 2D vector
template<typename T>
-using smVector2 = Eigen::Matrix<T,2,1>;
+using Vector2 = Eigen::Matrix<T,2,1>;
/// A 3D vector
template<typename T>
-using smVector3 = Eigen::Matrix<T,3,1>;
+using Vector3 = Eigen::Matrix<T,3,1>;
/// A 4D vector
template<typename T>
-using smVector4 = Eigen::Matrix<T,4,1>;
+using Vector4 = Eigen::Matrix<T,4,1>;
/// A 6D vector
template<typename T>
-using smVector6 = Eigen::Matrix<T,6,1>;
+using Vector6 = Eigen::Matrix<T,6,1>;
/// A dynamic size column vector
template<typename T>
-using smVector = Eigen::Matrix<T, Eigen::Dynamic, 1>;
+using Vector = Eigen::Matrix<T, Eigen::Dynamic, 1>;
// STD vectors of vectors
template<typename T>
-using smStdVector3 = std::vector<smVector3<T>,
- Eigen::aligned_allocator<smVector3<T>>>;
+using StdVector3 = std::vector<Vector3<T>,
+ Eigen::aligned_allocator<Vector3<T>>>;
+namespace core
+{
/// A 2D vector of floats.
-using smVec2f = smVector2<float>;
+using Vec2f = Vector2<float>;
/// A 3D vector of floats.
-using smVec3f = smVector3<float>;
+using Vec3f = Vector3<float>;
/// A 4D vector of floats.
-using smVec4f = smVector4<float>;
+using Vec4f = Vector4<float>;
/// A 6D vector of floats.
-using smVec6f = smVector6<float>;
+using Vec6f = Vector6<float>;
/// A 2D vector of doubles.
-using smVec2d = smVector2<double>;
+using Vec2d = Vector2<double>;
/// A 3D vector of doubles.
-using smVec3d = smVector3<double>;
+using Vec3d = Vector3<double>;
/// A 4D vector of doubles.
-using smVec4d = smVector4<double>;
+using Vec4d = Vector4<double>;
/// A 6D matrix of doubles.
-using smVec6d = smVector6<double>;
+using Vec6d = Vector6<double>;
/// A dynamic size column vector
-using smVectorf = smVector<float>;
+using Vectorf = Vector<float>;
/// A dynamic size column vector
-using smVectord = smVector<double>;
+using Vectord = Vector<double>;
// STL vectors of float vectors
-using smStdVector3f = smStdVector3<float>;
+using StdVector3f = StdVector3<float>;
// STL vectors of double vectors
-using smStdVector3d = smStdVector3<double>;
+using StdVector3d = StdVector3<double>;
template<typename T>
-void flattenVectorArray(const smStdVector3<T> &v, Eigen::Matrix<T, 3, Eigen::Dynamic> &out)
+void flattenVectorArray(const StdVector3<T> &v, Eigen::Matrix<T, 3, Eigen::Dynamic> &out)
{
out.resize(v.size());
for(size_t i = 0, end = v.size(); i < end; ++i)
@@ -110,7 +110,7 @@ void flattenVectorArray(const smStdVector3<T> &v, Eigen::Matrix<T, 3, Eigen::Dyn
}
}
-// } // Math
+} // core
// } // SimMedTK
#endif // SMVECTOR_H
diff --git a/src/Core/ViewerBase.cpp b/src/Core/ViewerBase.cpp
index 4d5d7ef174f9c9a1f7900274b965a8d22ec1ef67..9b8b0c5d596909d00881a8a335e9187a30534ab5 100644
--- a/src/Core/ViewerBase.cpp
+++ b/src/Core/ViewerBase.cpp
@@ -28,14 +28,14 @@
#include "DataStructures.h"
#include "External/tree.hh"
-smRenderOperation::smRenderOperation()
+RenderOperation::RenderOperation()
{
fbo = nullptr;
scene = nullptr;
fboName = "";
}
-smViewerBase::smViewerBase()
+ViewerBase::ViewerBase()
{
type = core::ClassType::Viewer;
viewerRenderDetail = SIMMEDTK_VIEWERRENDER_FADEBACKGROUND;
@@ -55,19 +55,19 @@ smViewerBase::smViewerBase()
}
///affects the framebuffer size and depth buffer size
-void smViewerBase::setScreenResolution(int p_width, int p_height)
+void ViewerBase::setScreenResolution(int p_width, int p_height)
{
this->screenResolutionHeight = p_height;
this->screenResolutionWidth = p_width;
}
-void smViewerBase::setUnlimitedFPS(bool p_enableFPS)
+void ViewerBase::setUnlimitedFPS(bool p_enableFPS)
{
unlimitedFPSEnabled = p_enableFPS;
unlimitedFPSVariableChanged++;
}
-void smViewerBase::initObjects()
+void ViewerBase::initObjects()
{
for (size_t i = 0; i < objectList.size(); i++)
{
@@ -82,12 +82,12 @@ void smViewerBase::initObjects()
}
}
-void smViewerBase::initScenes()
+void ViewerBase::initScenes()
{
//traverse all the scene and the objects in the scene
for(auto&& scene : sceneList)
{
- smSceneLocal sceneLocal;
+ SceneLocal sceneLocal;
scene->initLights();
scene->copySceneToLocal(sceneLocal);
@@ -105,7 +105,7 @@ void smViewerBase::initScenes()
}
///initialization of the viewer module
-void smViewerBase::init()
+void ViewerBase::init()
{
if (isInitialized)
{
@@ -121,12 +121,12 @@ void smViewerBase::init()
isInitialized = true;
}
-void smViewerBase::addFBO(const std::string &p_fboName,
- smTexture *p_colorTex,
- smTexture *p_depthTex,
+void ViewerBase::addFBO(const std::string &p_fboName,
+ Texture *p_colorTex,
+ Texture *p_depthTex,
unsigned int p_width, unsigned int p_height)
{
- smFboListItem item;
+ FboListItem item;
item.fboName = p_fboName;
item.width = p_width;
@@ -143,7 +143,7 @@ void smViewerBase::addFBO(const std::string &p_fboName,
this->fboListItems.push_back(item);
}
-void smViewerBase::processRenderOperation(const smRenderOperation &p_rop)
+void ViewerBase::processRenderOperation(const RenderOperation &p_rop)
{
switch (p_rop.target)
{
@@ -158,11 +158,11 @@ void smViewerBase::processRenderOperation(const smRenderOperation &p_rop)
}
}
-void smViewerBase::registerScene(std::shared_ptr<smScene> p_scene,
+void ViewerBase::registerScene(std::shared_ptr<Scene> p_scene,
smRenderTargetType p_target,
const std::string &p_fboName)
{
- smRenderOperation rop;
+ RenderOperation rop;
//sanity checks
assert(p_scene);
@@ -179,7 +179,7 @@ void smViewerBase::registerScene(std::shared_ptr<smScene> p_scene,
renderOperations.push_back(rop);
}
-inline void smViewerBase::adjustFPS()
+inline void ViewerBase::adjustFPS()
{
static int _unlimitedFPSVariableChanged = 0;
@@ -202,7 +202,7 @@ inline void smViewerBase::adjustFPS()
}
///main drawing routine for Rendering of all objects in the scene
-void smViewerBase::render()
+void ViewerBase::render()
{
if (viewerRenderDetail & SIMMEDTK_VIEWERRENDER_DISABLE)
{
@@ -213,7 +213,7 @@ void smViewerBase::render()
adjustFPS();
- smRenderDelegate::Ptr delegate;
+ RenderDelegate::Ptr delegate;
for (size_t i = 0; i < objectList.size(); i++)
{
delegate = objectList[i]->getRenderDelegate();
@@ -236,19 +236,19 @@ void smViewerBase::render()
endModule();
}
-void smViewerBase::addObject(std::shared_ptr<smCoreClass> object)
+void ViewerBase::addObject(std::shared_ptr<CoreClass> object)
{
- smSDK::getInstance()->addRef(object);
+ SDK::getInstance()->addRef(object);
objectList.push_back(object);
}
-void smViewerBase::setWindowTitle(const std::string &str)
+void ViewerBase::setWindowTitle(const std::string &str)
{
windowTitle = str;
}
-void smViewerBase::exec()
+void ViewerBase::exec()
{
// Init the viewer
this->init();
@@ -259,28 +259,28 @@ void smViewerBase::exec()
cleanUp();
}
-void smViewerBase::cleanUp()
+void ViewerBase::cleanUp()
{
//Must be set when all cleanup is done
terminationCompleted = true;
}
-int smViewerBase::height(void)
+int ViewerBase::height(void)
{
return screenResolutionHeight;
}
-int smViewerBase::width(void)
+int ViewerBase::width(void)
{
return screenResolutionWidth;
}
-float smViewerBase::aspectRatio(void)
+float ViewerBase::aspectRatio(void)
{
return screenResolutionHeight / screenResolutionWidth;
}
-void smViewerBase::setGlobalAxisLength(const float len)
+void ViewerBase::setGlobalAxisLength(const float len)
{
this->globalAxisLength = len;
}
diff --git a/src/Core/ViewerBase.h b/src/Core/ViewerBase.h
index a292ce5ab6079c562f7ac9bc16461b1c05e0b7f4..d7a465ced9125478b5f13130b0a7aba64e108d76 100644
--- a/src/Core/ViewerBase.h
+++ b/src/Core/ViewerBase.h
@@ -31,21 +31,14 @@
#include "Module.h"
#include "StaticSceneObject.h"
#include "DataStructures.h"
-#include "Pipe.h"
// Forward declaration
-class smSDK;
+class SDK;
class smOpenGLWindowStream;
class smMetalShader;
class smSceneTextureShader;
class smFrameBuffer;
-class smTexture;
-
-class smCameraCollisionInterface
-{
-public:
- virtual bool checkCameraCollision() = 0;
-};
+class Texture;
enum smRenderingStageType
{
@@ -62,38 +55,38 @@ enum smRenderTargetType
};
/// \brief Describes what to render and where the rendering should take place
-struct smRenderOperation
+struct RenderOperation
{
- smRenderOperation();
- std::shared_ptr<smScene> scene; ///< The scene full of objects to render
+ RenderOperation();
+ std::shared_ptr<Scene> scene; ///< The scene full of objects to render
smFrameBuffer *fbo; ///< Only required if rendering to FBO, specifies the FBO to render to
std::string fboName; ///< Only required if rendering to FBO, named reference to look up the FBO pointer
smRenderTargetType target; ///< Specifies where the rendered result should be placed see smRenderTargetType
};
-struct smFboListItem
+struct FboListItem
{
std::string fboName; ///< String identification
smFrameBuffer* fbo; ///< The FBO pointer
- smTexture *depthTex; ///< The FBO depth texture pointer
- smTexture *colorTex; ///< The FBO color texture pointer
+ Texture *depthTex; ///< The FBO depth texture pointer
+ Texture *colorTex; ///< The FBO color texture pointer
unsigned int width; ///< The width of the FBO
unsigned int height; ///< The height of the FBO
};
/// \brief Handles all rendering routines.
-class smViewerBase : public smModule
+class ViewerBase : public Module
{
protected:
- std::vector<std::shared_ptr<smCoreClass>> objectList;
- std::vector<smRenderOperation> renderOperations;
- std::vector<smFboListItem> fboListItems;
- std::shared_ptr<smErrorLog> log;
+ std::vector<std::shared_ptr<CoreClass>> objectList;
+ std::vector<RenderOperation> renderOperations;
+ std::vector<FboListItem> fboListItems;
+ std::shared_ptr<ErrorLog> log;
int unlimitedFPSVariableChanged;
bool unlimitedFPSEnabled;
int screenResolutionWidth;
int screenResolutionHeight;
- friend class smSDK;
+ friend class SDK;
public:
@@ -113,13 +106,13 @@ public:
/// \brief disable vSync
virtual void setUnlimitedFPS(bool p_enableFPS);
/// \brief default constructor
- smViewerBase();
+ ViewerBase();
/// \brief initialization for viewer
virtual void init() override;
/// \brief for exit viewer
virtual void exitViewer() = 0;
/// \brief add object for rendering
- virtual void addObject(std::shared_ptr<smCoreClass> object);
+ virtual void addObject(std::shared_ptr<CoreClass> object);
/// \brief add text for display
virtual void addText(std::string p_tag) = 0;
/// \brief update text
@@ -132,7 +125,7 @@ public:
/// \brief enable/disable VSync
virtual void setVSync(bool sync) = 0;
/// \brief Registers a scene for rendering with the viewer
- virtual void registerScene(std::shared_ptr<smScene> p_scene, smRenderTargetType p_target, const std::string &p_fboName);
+ virtual void registerScene(std::shared_ptr<Scene> p_scene, smRenderTargetType p_target, const std::string &p_fboName);
/// \brief Adds an FBO to the viewer to allow rendering to it.
///
/// \detail The FBO will be created an initialized in the viewer.
@@ -144,14 +137,14 @@ public:
/// \param p_height The height of the fbo
virtual void addFBO(
const std::string &p_fboName,
- smTexture *p_colorTex, smTexture *p_depthTex,
+ Texture *p_colorTex, Texture *p_depthTex,
unsigned int p_width, unsigned int p_height);
virtual void setGlobalAxisLength(const float len);
std::string windowTitle;
- smColor defaultDiffuseColor;
- smColor defaultAmbientColor;
- smColor defaultSpecularColor;
+ Color defaultDiffuseColor;
+ Color defaultAmbientColor;
+ Color defaultSpecularColor;
protected:
/// \brief Initializes rendering system (e.g., OpenGL) capabilities and flags
@@ -171,15 +164,15 @@ protected:
/// \brief Renders the internal sceneList
void renderSceneList();
/// \brief Processes a render operation
- virtual void processRenderOperation(const smRenderOperation &p_rop);
+ virtual void processRenderOperation(const RenderOperation &p_rop);
/// \brief Processes viewerRenderDetail options
virtual void processViewerOptions() = 0;
/// \brief Process window events and render as the major part of an event loop
virtual void processWindowEvents() = 0;
/// \brief Renders the render operation to screen
- virtual void renderToScreen(const smRenderOperation &p_rop) = 0;
+ virtual void renderToScreen(const RenderOperation &p_rop) = 0;
/// \brief Renders the render operation to an FBO
- virtual void renderToFBO(const smRenderOperation &p_rop) = 0;
+ virtual void renderToFBO(const RenderOperation &p_rop) = 0;
/// \brief Set the color and other viewer defaults
virtual void setToDefaults() = 0;
/// \brief draw routines
diff --git a/src/Core/WorkerThread.h b/src/Core/WorkerThread.h
index 5ea91eaf9715736a01c70ab6d6abfe9212dcd39a..63b2b7cac89bf161606e934cb24959702180392c 100644
--- a/src/Core/WorkerThread.h
+++ b/src/Core/WorkerThread.h
@@ -28,17 +28,19 @@
#include "CoreClass.h"
#include "Synchronization.h"
-/// \brief process(used as conceptual meaning) numbering scheme
-enum smProcessNumbering
-{
- SIMMEDTK_PROCNUMSCHEME_X__,
- SIMMEDTK_PROCNUMSCHEME_XY_,
- SIMMEDTK_PROCNUMSCHEME_XYZ,
-};
/// \brief process id
-struct smProcessID
+struct ProcessID
{
public:
+
+ /// \brief process(used as conceptual meaning) numbering scheme
+ enum class ProcessNumbering
+ {
+ X,
+ XY,
+ XYZ,
+ };
+
/// \brief numbering scheme in x,y,z
unsigned short x;
unsigned short y;
@@ -52,16 +54,16 @@ public:
/// \brief data size
int sizeOfData;
/// \brief numbering sceheme
- smProcessNumbering numbScheme;
+ ProcessNumbering numbScheme;
- smProcessID()
+ ProcessID()
{
x = y = z = totalProcX = totalProcY = totalProcZ = sizeOfData = 0;
data = NULL;
- numbScheme = SIMMEDTK_PROCNUMSCHEME_X__;
+ numbScheme = ProcessNumbering::X;
}
- inline void operator=(smProcessID p_ID)
+ inline void operator=(ProcessID p_ID)
{
x = p_ID.x;
y = p_ID.y;
@@ -79,15 +81,15 @@ public:
/// \brief process. Process is a atomic execution unit(thread).
-class smProcess: public smCoreClass
+class Process: public CoreClass
{
protected:
- smProcessID id;
+ ProcessID id;
bool termination;
public:
- smProcess()
+ Process()
{
id.x = 0;
id.y = 0;
@@ -97,17 +99,17 @@ public:
id.totalProcZ = 0;
id.data = NULL;
id.sizeOfData = 0;
- id.numbScheme = SIMMEDTK_PROCNUMSCHEME_X__;
+ id.numbScheme = ProcessID::ProcessNumbering::X;
termination = false;
}
- smProcess(smProcessID p_id)
+ Process(ProcessID p_id)
{
id = p_id;
termination = false;
}
- void setId(smProcessID p_id)
+ void setId(ProcessID p_id)
{
id = p_id;
}
@@ -120,30 +122,30 @@ public:
}
};
/// \brief worker thread extends process
-class smWorkerThread: public smProcess
+class WorkerThread: public Process
{
protected:
/// \brief for synchronization
- smSynchronization *synch;
+ Synchronization *synch;
public:
- smWorkerThread()
+ WorkerThread()
{
}
- smWorkerThread(smProcessID p_ID): smProcess(p_ID)
+ WorkerThread(ProcessID p_ID): Process(p_ID)
{
termination = false;
}
- smWorkerThread(smSynchronization &p_synch, smProcessID p_ID): smProcess(p_ID)
+ WorkerThread(Synchronization &p_synch, ProcessID p_ID): Process(p_ID)
{
synch = &p_synch;
termination = false;
}
- void setSynchObject(smSynchronization &p_synch)
+ void setSynchObject(Synchronization &p_synch)
{
synch = &p_synch;
}
diff --git a/src/Devices/ADUInterface.cpp b/src/Devices/ADUInterface.cpp
index 8e4b8c36b633b3c3c15bc3739167e75a3b382372..037351ad81b62e53320e938847ac31f5b1575703 100644
--- a/src/Devices/ADUInterface.cpp
+++ b/src/Devices/ADUInterface.cpp
@@ -66,7 +66,7 @@ smADUInterface::smADUInterface()
std::cout << "Check the USB connection of the ADU device or the serial number: Couldn't initialize the device" << "\n";
}
- ADUpipe = new smPipe("ADU_Data", sizeof(ADUDeviceData), 10);
+// ADUpipe = new smPipe("ADU_Data", sizeof(ADUDeviceData), 10);
}
/// \brief
@@ -168,7 +168,7 @@ smADUInterface::smADUInterface(const std::string& calibrationFile)
std::cout << "Check the USB connection of the ADU device or the serial number: Couldn't initialize the device" << "\n";
}
- ADUpipe = new smPipe("ADU_Data", sizeof(ADUDeviceData), 10);
+// ADUpipe = new smPipe("ADU_Data", sizeof(ADUDeviceData), 10);
sw = 0;
updateFlag = 0;
}
@@ -255,17 +255,17 @@ void smADUInterface::runDevice()
void smADUInterface::sendDataToPipe()
{
- ADUDeviceData *pipeData;
- pipeData = (ADUDeviceData*)ADUpipe->beginWrite();
- pipeData->calibration[0] = calibrationData->minValue1;
- pipeData->calibration[1] = calibrationData->maxValue1;
- pipeData->calibration[2] = calibrationData->minValue2;
- pipeData->calibration[3] = calibrationData->maxValue2;
- pipeData->anValue[0] = deviceData->anValue[0];
- pipeData->anValue[1] = deviceData->anValue[1];
- pipeData->deviceOpen = isOpened;
- ADUpipe->endWrite(1);
- ADUpipe->acknowledgeValueListeners();
+// ADUDeviceData *pipeData;
+// pipeData = (ADUDeviceData*)ADUpipe->beginWrite();
+// pipeData->calibration[0] = calibrationData->minValue1;
+// pipeData->calibration[1] = calibrationData->maxValue1;
+// pipeData->calibration[2] = calibrationData->minValue2;
+// pipeData->calibration[3] = calibrationData->maxValue2;
+// pipeData->anValue[0] = deviceData->anValue[0];
+// pipeData->anValue[1] = deviceData->anValue[1];
+// pipeData->deviceOpen = isOpened;
+// ADUpipe->endWrite(1);
+// ADUpipe->acknowledgeValueListeners();
}
/// \brief
diff --git a/src/Devices/ADUInterface.h b/src/Devices/ADUInterface.h
index 186b365368806286529c829fffaac93195f62fd2..12bdb97ac49aec66cd749021770a30f4685a08eb 100644
--- a/src/Devices/ADUInterface.h
+++ b/src/Devices/ADUInterface.h
@@ -28,9 +28,8 @@
#define SM_ADU_INTERFACE_H
#include "smExternalDevices/smDeviceInterface.h"
-#include "smCore/smEvent.h"
+#include "smCore/Event.h"
#include "smCore/smEventData.h"
-#include "smCore/smPipe.h"
/// \brief holds data for calibration of ADU device
struct ADUDeviceCalibrationData
@@ -105,10 +104,10 @@ public:
void run() override;
/// \brief
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override{};
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override{};
public:
- smPipe *ADUpipe; ///< !!
+// smPipe *ADUpipe; ///< !!
/// \brief !!
void sendDataToPipe();
diff --git a/src/Devices/Audio.h b/src/Devices/Audio.h
index 3508a86ac2ca660e532b712f23b0cc5458140839..617912ec6e5d5565557277d1701a3772334b7563 100644
--- a/src/Devices/Audio.h
+++ b/src/Devices/Audio.h
@@ -33,13 +33,13 @@
#include "Event/AudioEvent.h"
/// \brief class to enable audio rendering
-class smAudio: public smCoreClass
+class smAudio: public CoreClass
{
private:
sf::Sound sound; ///< SFML Sound object, controls the sound data
sf::SoundBuffer soundBuffer; ///< SFML Sound buffer, contains the sound data
- std::shared_ptr<smErrorLog> log; ///< log for errors
+ std::shared_ptr<ErrorLog> log; ///< log for errors
std::string referenceName; ///< A human readable string to refer to the object
mstk::Event::AudioState state; ///< state of audio
mstk::Event::AudioState prevState; ///< state of audio in previous cycle
@@ -61,7 +61,7 @@ public:
/// \brief constructor initialize various states
smAudio(const std::string& fileName,
const std::string& p_referenceName,
- smErrorLog *p_log = nullptr,
+ ErrorLog *p_log = nullptr,
bool p_loop = false)
: referenceName(p_referenceName),
loop(p_loop)
diff --git a/src/Devices/DeviceInterface.h b/src/Devices/DeviceInterface.h
index d1939d64b742d9408e9e0ef3ffda6b7853caa2e9..d80268a71b76c1c6b8ac07472acb224315a21752 100644
--- a/src/Devices/DeviceInterface.h
+++ b/src/Devices/DeviceInterface.h
@@ -35,7 +35,7 @@ const int SIMMEDTK_MSG_SUCCESS = 0;
/// \brief Abstract base interface class with virtual functions.
/// Device specific implementation should be done by instantiating this class
-class smDeviceInterface: public smModule
+class smDeviceInterface: public Module
{
public:
diff --git a/src/Devices/HapticInterface.h b/src/Devices/HapticInterface.h
index c13ec11dfd1405252cfe374a4ed35829314863f2..6328b6da7fd4b524317cc75a9d685737d449cefc 100644
--- a/src/Devices/HapticInterface.h
+++ b/src/Devices/HapticInterface.h
@@ -33,10 +33,10 @@ struct hapticDeviceData_t
{
int deviceID;
std::string deviceName;
- smVec3 <smDouble> position;
- smVec3 <smDouble> velocity;
- smVec3 <smDouble> angles;
- smMatrix44 <smDouble> transform;
+ core::Vec3 <smDouble> position;
+ core::Vec3 <smDouble> velocity;
+ core::Vec3 <smDouble> angles;
+ Matrix44 <smDouble> transform;
bool buttonState[SM_MAX_BUTTONS];
};
@@ -71,31 +71,31 @@ public:
}
/// \brief get the position of the end effector the haptic device
- virtual int getPosition(smVec3d & d_pos)
+ virtual int getPosition(core::Vec3d & d_pos)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief get the orientation of the end effector the haptic device
- virtual int getOreintation(smMatrix33 <smDouble> *d_rot)
+ virtual int getOreintation(Matrix33 <smDouble> *d_rot)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief get the transform (position + orientation) of the end effector the haptic device
- virtual int getDeviceTransform(smMatrix44 <smDouble> *d_transform)
+ virtual int getDeviceTransform(Matrix44 <smDouble> *d_transform)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief set force to the haptic device
- virtual int setForce(smVec3d & force)
+ virtual int setForce(core::Vec3d & force)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief set torque to the haptic device
- virtual int setForceandTorque(smVec3 <smDouble>& force, smVec3 <smDouble> & torque)
+ virtual int setForceandTorque(core::Vec3 <smDouble>& force, core::Vec3 <smDouble> & torque)
{
return SIMMEDTK_MSG_UNKNOWN;
}
diff --git a/src/Devices/NIUSB6008Interface.cpp b/src/Devices/NIUSB6008Interface.cpp
index d1b2f9c1d76ab5c0d406b21efc1c2063a6ee007f..023b56e70165a101dc736693b80d6a8e8e5ba5f5 100644
--- a/src/Devices/NIUSB6008Interface.cpp
+++ b/src/Devices/NIUSB6008Interface.cpp
@@ -137,7 +137,7 @@ smNIUSB6008Interface::smNIUSB6008Interface(int VBLaST_Task_ID)
NI_on = false;
}
- NIUSB6008pipe = new smPipe("NIUSB6008_Data", sizeof(NIUSB6008Data), 10);
+// NIUSB6008pipe = new smPipe("NIUSB6008_Data", sizeof(NIUSB6008Data), 10);
aveData[0] = aveData[1] = 0.0;
}
@@ -327,7 +327,7 @@ smNIUSB6008Interface::~smNIUSB6008Interface()
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
- delete NIUSB6008pipe;
+// delete NIUSB6008pipe;
delete [] regTool;
}
@@ -336,7 +336,7 @@ void smNIUSB6008Interface::sendDataToPipe()
{
NIUSB6008Data *pipeData;
- pipeData = (NIUSB6008Data*)NIUSB6008pipe->beginWrite();
+// pipeData = (NIUSB6008Data*)NIUSB6008pipe->beginWrite();
float tF;
int cid;
pipeData->on = NI_on;
@@ -359,8 +359,8 @@ void smNIUSB6008Interface::sendDataToPipe()
pipeData->value[i] = tF;
}
- NIUSB6008pipe->endWrite(1);
- NIUSB6008pipe->acknowledgeValueListeners();
+// NIUSB6008pipe->endWrite(1);
+// NIUSB6008pipe->acknowledgeValueListeners();
}
/// \brief
diff --git a/src/Devices/NIUSB6008Interface.h b/src/Devices/NIUSB6008Interface.h
index c75da5c0cb0cb4e065c7b74092695793b426ae26..2ec9e2fcce75bf0fba5b78583f242f61257fdeb5 100644
--- a/src/Devices/NIUSB6008Interface.h
+++ b/src/Devices/NIUSB6008Interface.h
@@ -30,7 +30,7 @@
#define SM_NIUSB6008_INTERFACE_H
#include "smExternalDevices/smDeviceInterface.h"
-#include "smCore/smEvent.h"
+#include "smCore/Event.h"
#include "smCore/smEventData.h"
#include "smCore/smPipe.h"
@@ -60,7 +60,7 @@ public:
smNIUSB6008Interface(int VBLaST_Task_ID);
~smNIUSB6008Interface();
- smPipe *NIUSB6008pipe; ///<
+// smPipe *NIUSB6008pipe; ///<
int32 NI_error; ///<
char NI_errBuff[2048]; ///<
int initCount; ///<
@@ -97,7 +97,7 @@ public:
void run();
/// \brief handle event related to NIUSB6008 device
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override
{
};
diff --git a/src/Devices/PhantomInterface.cpp b/src/Devices/PhantomInterface.cpp
index 6fb258078cad8cf1333003a7976ea645fcf73d8d..59d17419b5e7e65a481eef38d9053c9aed17992e 100644
--- a/src/Devices/PhantomInterface.cpp
+++ b/src/Devices/PhantomInterface.cpp
@@ -23,11 +23,11 @@
#include "smExternalDevices/smPhantomInterface.h"
#include "smRendering/smGLRenderer.h"
-#include "smCore/smTimer.h"
+#include "smCore/Timer.h"
#include <iostream>
HDCallbackCode HDCALLBACK hapticCallback(void *pData);
-smTimer hapticTimer;
+Timer hapticTimer;
/// \brief additions to provide compabilibity with all the modules structures
void smPhantomInterface::init()
@@ -77,7 +77,7 @@ smPhantomInterface::smPhantomInterface()
hdEnable(HD_FORCE_RAMPING);
//Stream Event Creation
- hapticEvent[incr] = new smEvent();
+ hapticEvent[incr] = new Event();
hapticEventData[incr] = new smHapticOutEventData();
hapticEvent[incr]->data = hapticEventData[incr];
incr++;
@@ -134,21 +134,21 @@ int smPhantomInterface::openDevice(int phantomNumber)
}
/// \brief
-int smPhantomInterface::getPosition(smVec3 <smDouble> &d_pos)
+int smPhantomInterface::getPosition(core::Vec3 <smDouble> &d_pos)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief
-int smPhantomInterface::getOreintation(smMatrix33 <smDouble> *d_rot)
+int smPhantomInterface::getOreintation(Matrix33 <smDouble> *d_rot)
{
return SIMMEDTK_MSG_UNKNOWN;
}
/// \brief
-int smPhantomInterface::getDeviceTransform(smMatrix44 <smDouble> *d_transform)
+int smPhantomInterface::getDeviceTransform(Matrix44 <smDouble> *d_transform)
{
return SIMMEDTK_MSG_UNKNOWN;
@@ -240,7 +240,7 @@ HDCallbackCode HDCALLBACK hapticCallback(void *pData)
while (count < phantomInterface->numPhantomDevices)
{
- //phantomInterface->hapticEvent[count]=new smEvent();
+ //phantomInterface->hapticEvent[count]=new Event();
//hapticEventData[count]=new smHapticOutEventData();
memcpy(phantomInterface->hapticEventData[count], (const void*)&phantomInterface->hapticDeviceData[count], sizeof(phantomInterface->hapticDeviceData[count]));
phantomInterface->hapticEvent[count]->eventType = SIMMEDTK_EVENTTYPE_HAPTICOUT;
@@ -282,7 +282,7 @@ HDCallbackCode HDCALLBACK hapticCallback(void *pData)
}
/// \brief
-void smPhantomInterface::handleEvent(std::shared_ptr<mstk::Event::smEvent> event)
+void smPhantomInterface::handleEvent(std::shared_ptr<mstk::Event::Event> event)
{
smHapticInEventData *hapticEventData;
diff --git a/src/Devices/PhantomInterface.h b/src/Devices/PhantomInterface.h
index f4e0150e39631f8ede47af602cc2121662b78e03..9e4d7eae06984e71bfba9900b18b1a4419a1d686 100644
--- a/src/Devices/PhantomInterface.h
+++ b/src/Devices/PhantomInterface.h
@@ -37,7 +37,7 @@ class smPhantomInterface: public smHapticInterface
{
protected:
- smEvent *hapticEvent[SM_MAX_PHANTOM_DEVICES]; ///<
+ Event *hapticEvent[SM_MAX_PHANTOM_DEVICES]; ///<
smHapticOutEventData *hapticEventData[SM_MAX_PHANTOM_DEVICES]; ///<
public:
@@ -65,13 +65,13 @@ public:
int startDevice();
/// \brief get phantom position
- int getPosition(smVec3 <smDouble>& d_pos);
+ int getPosition(core::Vec3 <smDouble>& d_pos);
/// \brief get phantom orientation
- int getOreintation(smMatrix33 <smDouble> *d_rot);
+ int getOreintation(Matrix33 <smDouble> *d_rot);
/// \brief get phantom transformation
- int getDeviceTransform(smMatrix44 <smDouble> *d_transform);
+ int getDeviceTransform(Matrix44 <smDouble> *d_transform);
HHD dHandle[SM_MAX_PHANTOM_DEVICES]; ///< handles for devices available
int numPhantomDevices; ///< number of phantom devices
@@ -99,7 +99,7 @@ public:
friend HDCallbackCode HDCALLBACK hapticCallback(void *pData); ///< !!
/// \brief handle events related to phantom omni
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> event) override;
/// \brief initialize (nothing happens)
void init() override;
diff --git a/src/Event/AudioEvent.h b/src/Event/AudioEvent.h
index 9e997e02d4b7c46ebc1601b7257b9f25d787d353..3fef6f40fe37545e64ac73d4ff9b6106ef197ec5 100644
--- a/src/Event/AudioEvent.h
+++ b/src/Event/AudioEvent.h
@@ -41,7 +41,7 @@ enum class AudioState
Stop,
};
-class smAudioEvent: public smEvent
+class smAudioEvent: public Event
{
public:
static EventType EventName;
diff --git a/src/Event/CameraEvent.cpp b/src/Event/CameraEvent.cpp
index 8fa94e96e87afba8ce215a146eeb7ab23663d47e..ed42edebe1875e54cb21a4d1f4f69f8dacf2008f 100644
--- a/src/Event/CameraEvent.cpp
+++ b/src/Event/CameraEvent.cpp
@@ -30,31 +30,31 @@ EventType smCameraEvent::EventName = EventType::CameraUpdate;
smCameraEvent::smCameraEvent()
{
- position = smVec3d::Zero();
- direction = smVec3d::Zero();
- upDirection = smVec3d::Zero();
+ position = core::Vec3d::Zero();
+ direction = core::Vec3d::Zero();
+ upDirection = core::Vec3d::Zero();
}
-void smCameraEvent::setPosition(const smVec3d& cameraPosition)
+void smCameraEvent::setPosition(const core::Vec3d& cameraPosition)
{
this->position = cameraPosition;
}
-const smVec3d& smCameraEvent::getPosition()
+const core::Vec3d& smCameraEvent::getPosition()
{
return this->position;
}
-void smCameraEvent::setDirection(const smVec3d& cameraDirection)
+void smCameraEvent::setDirection(const core::Vec3d& cameraDirection)
{
this->direction = cameraDirection;
}
-const smVec3d& smCameraEvent::getDirection()
+const core::Vec3d& smCameraEvent::getDirection()
{
return this->direction;
}
-void smCameraEvent::setUpDirection(const smVec3d& cameraUpDirection)
+void smCameraEvent::setUpDirection(const core::Vec3d& cameraUpDirection)
{
this->upDirection = cameraUpDirection;
}
-const smVec3d& smCameraEvent::getUpDirection()
+const core::Vec3d& smCameraEvent::getUpDirection()
{
return this->upDirection;
}
diff --git a/src/Event/CameraEvent.h b/src/Event/CameraEvent.h
index 4a3932b578174c1365fd03a6bdee6efde59c4ba9..951fb6f65a95d852f1335da5b9546a4e594e2a4d 100644
--- a/src/Event/CameraEvent.h
+++ b/src/Event/CameraEvent.h
@@ -32,7 +32,7 @@
namespace mstk {
namespace Event {
-class smCameraEvent : public smEvent
+class smCameraEvent : public Event
{
public:
static EventType EventName;
@@ -40,28 +40,28 @@ public:
public:
smCameraEvent();
- void setPosition(const smVec3d &cameraPosition);
+ void setPosition(const core::Vec3d &cameraPosition);
- const smVec3d &getPosition();
+ const core::Vec3d &getPosition();
- void setDirection(const smVec3d &cameraDirection);
+ void setDirection(const core::Vec3d &cameraDirection);
- const smVec3d &getDirection();
+ const core::Vec3d &getDirection();
- void setUpDirection(const smVec3d &cameraUpDirection);
+ void setUpDirection(const core::Vec3d &cameraUpDirection);
- const smVec3d &getUpDirection();
+ const core::Vec3d &getUpDirection();
- void applyRotation(const smQuaterniond &quat)
+ void applyRotation(const Quaterniond &quat)
{
direction = quat*direction;
upDirection = quat*upDirection;
}
private:
- smVec3d position; // camera position
- smVec3d direction; // direction
- smVec3d upDirection; // upward direction
+ core::Vec3d position; // camera position
+ core::Vec3d direction; // direction
+ core::Vec3d upDirection; // upward direction
};
} // Event namespace
diff --git a/src/Event/HapticEvent.cpp b/src/Event/HapticEvent.cpp
index d994e0bc66f87c55798ab107db7e384c8e36680c..a3e9513dfd91b2691ed918a3081ff0a32dcf1af6 100644
--- a/src/Event/HapticEvent.cpp
+++ b/src/Event/HapticEvent.cpp
@@ -31,52 +31,52 @@ EventType smHapticEvent::EventName = EventType::Haptic;
smHapticEvent::smHapticEvent(const size_t& deviceId, const std::string& deviceName): id(deviceId), name(deviceName)
{}
-void smHapticEvent::setPosition(const smVec3d& coordinates)
+void smHapticEvent::setPosition(const core::Vec3d& coordinates)
{
this->position = coordinates;
}
-const smVec3d& smHapticEvent::getPosition()
+const core::Vec3d& smHapticEvent::getPosition()
{
return this->position;
}
-void smHapticEvent::setVelocity(const smVec3d& deviceVelocity)
+void smHapticEvent::setVelocity(const core::Vec3d& deviceVelocity)
{
this->velocity = deviceVelocity;
}
-const smVec3d& smHapticEvent::getVelocity()
+const core::Vec3d& smHapticEvent::getVelocity()
{
return this->velocity;
}
-void smHapticEvent::setAngles(const smVec3d& deviceAngles)
+void smHapticEvent::setAngles(const core::Vec3d& deviceAngles)
{
this->angles = deviceAngles;
}
-const smVec3d& smHapticEvent::getAngles()
+const core::Vec3d& smHapticEvent::getAngles()
{
return this->angles;
}
-const smMatrix44d& smHapticEvent::getTransform()
+const Matrix44d& smHapticEvent::getTransform()
{
return this->transform;
}
-void smHapticEvent::setTransform(const smMatrix44d& deviceTransform)
+void smHapticEvent::setTransform(const Matrix44d& deviceTransform)
{
this->transform = deviceTransform;
}
-const smVec3d& smHapticEvent::getForce()
+const core::Vec3d& smHapticEvent::getForce()
{
return this->force;
}
-void smHapticEvent::setForce(const smVec3d& deviceForce)
+void smHapticEvent::setForce(const core::Vec3d& deviceForce)
{
this->force = deviceForce;
}
-const smVec3d& smHapticEvent::getTorque()
+const core::Vec3d& smHapticEvent::getTorque()
{
return this->torque;
}
-void smHapticEvent::setTorque(const smVec3d& deviceTorque)
+void smHapticEvent::setTorque(const core::Vec3d& deviceTorque)
{
this->torque = deviceTorque;
}
diff --git a/src/Event/HapticEvent.h b/src/Event/HapticEvent.h
index 96f6cc9ef6f62451024aba1a37bbe4d7729c6a8c..d8da483b2c8a76336edd6a5dfd31e5830e7fa3cb 100644
--- a/src/Event/HapticEvent.h
+++ b/src/Event/HapticEvent.h
@@ -36,7 +36,7 @@
namespace mstk {
namespace Event {
-class smHapticEvent : public smEvent
+class smHapticEvent : public Event
{
public:
static EventType EventName;
@@ -44,29 +44,29 @@ public:
public:
smHapticEvent(const size_t &deviceId, const std::string &deviceName);
- void setPosition(const smVec3d &coordinates);
+ void setPosition(const core::Vec3d &coordinates);
- const smVec3d &getPosition();
+ const core::Vec3d &getPosition();
- void setVelocity(const smVec3d &deviceVelocity);
+ void setVelocity(const core::Vec3d &deviceVelocity);
- const smVec3d &getVelocity();
+ const core::Vec3d &getVelocity();
- void setAngles(const smVec3d &deviceAngles);
+ void setAngles(const core::Vec3d &deviceAngles);
- const smVec3d &getAngles();
+ const core::Vec3d &getAngles();
- const smMatrix44d &getTransform();
+ const Matrix44d &getTransform();
- void setTransform(const smMatrix44d &deviceTransform);
+ void setTransform(const Matrix44d &deviceTransform);
- const smVec3d &getForce();
+ const core::Vec3d &getForce();
- void setForce(const smVec3d &deviceForce);
+ void setForce(const core::Vec3d &deviceForce);
- const smVec3d &getTorque();
+ const core::Vec3d &getTorque();
- void setTorque(const smVec3d &deviceTorque);
+ void setTorque(const core::Vec3d &deviceTorque);
size_t getDeviceId()
{
@@ -86,12 +86,12 @@ public:
private:
size_t id; // device id
std::string name; // device name
- smVec3d position; // position
- smVec3d velocity; // velocity of the tip
- smVec3d angles; // angles
- smVec3d force; // input force
- smVec3d torque; // input torque
- smMatrix44d transform; // transformation matrix
+ core::Vec3d position; // position
+ core::Vec3d velocity; // velocity of the tip
+ core::Vec3d angles; // angles
+ core::Vec3d force; // input force
+ core::Vec3d torque; // input torque
+ Matrix44d transform; // transformation matrix
std::array<bool,4> buttonState;//will be chnage later on
};
diff --git a/src/Event/KeyboardEvent.h b/src/Event/KeyboardEvent.h
index 3f29ee8ba638d542a975e1ff3da766d8ea7aa7a2..5413ddffc33a831cbd373cae70ebb770546448cf 100644
--- a/src/Event/KeyboardEvent.h
+++ b/src/Event/KeyboardEvent.h
@@ -31,7 +31,7 @@
namespace mstk {
namespace Event {
-class smKeyboardEvent : public smEvent
+class smKeyboardEvent : public Event
{
public:
static EventType EventName;
diff --git a/src/Event/LightMotionEvent.cpp b/src/Event/LightMotionEvent.cpp
index 4e3d69321b7534da888df9a36e6041c12d40c5d5..1f50718932ad7ce3a30910c982a9c9ab89902792 100644
--- a/src/Event/LightMotionEvent.cpp
+++ b/src/Event/LightMotionEvent.cpp
@@ -30,22 +30,22 @@ EventType smLightMotionEvent::EventName = EventType::LightMotion;
smLightMotionEvent::smLightMotionEvent(const int& lightIndex): index(lightIndex)
{
- position = smVec3d::Zero();
- direction = smVec3d::Zero();
+ position = core::Vec3d::Zero();
+ direction = core::Vec3d::Zero();
}
-void smLightMotionEvent::setPosition(const smVec3d& lightPosition)
+void smLightMotionEvent::setPosition(const core::Vec3d& lightPosition)
{
this->position = lightPosition;
}
-const smVec3d& smLightMotionEvent::getPosition()
+const core::Vec3d& smLightMotionEvent::getPosition()
{
return this->position;
}
-void smLightMotionEvent::setDirection(const smVec3d& lightDirection)
+void smLightMotionEvent::setDirection(const core::Vec3d& lightDirection)
{
this->direction = lightDirection;
}
-const smVec3d& smLightMotionEvent::getDirection()
+const core::Vec3d& smLightMotionEvent::getDirection()
{
return this->direction;
}
diff --git a/src/Event/LightMotionEvent.h b/src/Event/LightMotionEvent.h
index cae5aa36eceab56219476a74398a79759b4b102e..a8f265b192905ad364cbff11006066f278a14972 100644
--- a/src/Event/LightMotionEvent.h
+++ b/src/Event/LightMotionEvent.h
@@ -31,7 +31,7 @@
namespace mstk {
namespace Event {
-class smLightMotionEvent : public smEvent
+class smLightMotionEvent : public Event
{
public:
static EventType EventName;
@@ -39,13 +39,13 @@ public:
public:
smLightMotionEvent(const int &lightIndex);
- void setPosition(const smVec3d &lightPosition);
+ void setPosition(const core::Vec3d &lightPosition);
- const smVec3d &getPosition();
+ const core::Vec3d &getPosition();
- void setDirection(const smVec3d &lightDirection);
+ void setDirection(const core::Vec3d &lightDirection);
- const smVec3d &getDirection();
+ const core::Vec3d &getDirection();
void setLightIndex(const int &lightIndex);
@@ -53,8 +53,8 @@ public:
private:
int index; // light index
- smVec3d position; // light position
- smVec3d direction; // direction
+ core::Vec3d position; // light position
+ core::Vec3d direction; // direction
};
} // Event namespace
diff --git a/src/Event/MouseButtonEvent.cpp b/src/Event/MouseButtonEvent.cpp
index fecf8721a7d674c7fbdd734ae88d9ecd067a4dcf..d0ac3c029257237bf2afd0bbd826b809f5ffeda9 100644
--- a/src/Event/MouseButtonEvent.cpp
+++ b/src/Event/MouseButtonEvent.cpp
@@ -46,11 +46,11 @@ const bool& smMouseButtonEvent::togglePressed()
{
return this->pressed = !this->pressed;
}
-void smMouseButtonEvent::setWindowCoord(const smVec2d& coordinates)
+void smMouseButtonEvent::setWindowCoord(const core::Vec2d& coordinates)
{
this->coord = coordinates;
}
-const smVec2d& smMouseButtonEvent::getWindowCoord()
+const core::Vec2d& smMouseButtonEvent::getWindowCoord()
{
return this->coord;
}
diff --git a/src/Event/MouseButtonEvent.h b/src/Event/MouseButtonEvent.h
index 0f40031c6d660bed4783bd875fe8ecca054ed8dd..231514766a02caf6fe445705ddfd970927decf84 100644
--- a/src/Event/MouseButtonEvent.h
+++ b/src/Event/MouseButtonEvent.h
@@ -42,7 +42,7 @@ enum class smMouseButton
Reset
};
-class smMouseButtonEvent : public smEvent
+class smMouseButtonEvent : public Event
{
public:
static EventType EventName;
@@ -58,14 +58,14 @@ public:
const bool &togglePressed();
- void setWindowCoord(const smVec2d &coordinates);
+ void setWindowCoord(const core::Vec2d &coordinates);
- const smVec2d &getWindowCoord();
+ const core::Vec2d &getWindowCoord();
private:
bool pressed; // If the button was pressed or released in this event
smMouseButton mouseButton; // Which mouse button was pressed
- smVec2d coord; // X,Y coorindate relative to left edge
+ core::Vec2d coord; // X,Y coorindate relative to left edge
};
} // Event namespace
diff --git a/src/Event/MouseMoveEvent.cpp b/src/Event/MouseMoveEvent.cpp
index 370073fe4c6bf894d1f59fada911fb4fc70206bb..9bd258c143af03001653edfa92ee38412d9505b7 100644
--- a/src/Event/MouseMoveEvent.cpp
+++ b/src/Event/MouseMoveEvent.cpp
@@ -28,11 +28,11 @@ namespace Event {
EventType smMouseMoveEvent::EventName = EventType::MouseMove;
-void smMouseMoveEvent::setWindowCoord(const smVec2d& coordinates)
+void smMouseMoveEvent::setWindowCoord(const core::Vec2d& coordinates)
{
this->coord = coordinates;
}
-const smVec2d& smMouseMoveEvent::getWindowCoord()
+const core::Vec2d& smMouseMoveEvent::getWindowCoord()
{
return this->coord;
}
diff --git a/src/Event/MouseMoveEvent.h b/src/Event/MouseMoveEvent.h
index 811ded6fd60b9e327b6700fc8b469ed6eca5c50f..c20a9599e88dfccf1b59bc56230f677cd1825685 100644
--- a/src/Event/MouseMoveEvent.h
+++ b/src/Event/MouseMoveEvent.h
@@ -31,18 +31,18 @@
namespace mstk {
namespace Event {
-class smMouseMoveEvent : public smEvent
+class smMouseMoveEvent : public Event
{
public:
static EventType EventName;
public:
- void setWindowCoord(const smVec2d &coordinates);
+ void setWindowCoord(const core::Vec2d &coordinates);
- const smVec2d &getWindowCoord();
+ const core::Vec2d &getWindowCoord();
private:
- smVec2d coord; // X,Y coorindate relative to left edge
+ core::Vec2d coord; // X,Y coorindate relative to left edge
};
} // Event namespace
diff --git a/src/Event/ObjectClickedEvent.cpp b/src/Event/ObjectClickedEvent.cpp
index dac158229843214e8d26af3f55fcd52ef20e28f1..bc253b521a9d0af94fa9628809e470e47afd6205 100644
--- a/src/Event/ObjectClickedEvent.cpp
+++ b/src/Event/ObjectClickedEvent.cpp
@@ -30,11 +30,11 @@ EventType smObjectClickedEvent::EventName = EventType::ObjectClicked;
smObjectClickedEvent::smObjectClickedEvent(const size_t& objectId): id(objectId)
{}
-void smObjectClickedEvent::setWindowCoord(const smVec3d& coordinates)
+void smObjectClickedEvent::setWindowCoord(const core::Vec3d& coordinates)
{
this->coord = coordinates;
}
-const smVec3d& smObjectClickedEvent::getWindowCoord()
+const core::Vec3d& smObjectClickedEvent::getWindowCoord()
{
return this->coord;
}
diff --git a/src/Event/ObjectClickedEvent.h b/src/Event/ObjectClickedEvent.h
index 1684b50ff0c125470f24367dbdd3c2a7482a913e..d9f8a5eefcea4af6c6e7e5bb2c2e91318ccb91ce 100644
--- a/src/Event/ObjectClickedEvent.h
+++ b/src/Event/ObjectClickedEvent.h
@@ -32,7 +32,7 @@
namespace mstk {
namespace Event {
-class smObjectClickedEvent : public smEvent
+class smObjectClickedEvent : public Event
{
public:
static EventType EventName;
@@ -40,13 +40,13 @@ public:
public:
smObjectClickedEvent(const size_t &objectId);
- void setWindowCoord(const smVec3d &coordinates);
+ void setWindowCoord(const core::Vec3d &coordinates);
- const smVec3d &getWindowCoord();
+ const core::Vec3d &getWindowCoord();
private:
size_t id; // object id
- smVec3d coord; // position
+ core::Vec3d coord; // position
};
} // Event namespace
diff --git a/src/Event/UnitTests/EventHandlerSpec.cpp b/src/Event/UnitTests/EventHandlerSpec.cpp
index b285a21f47a08609a43f1c9467cdcc26097aae57..df9af8c3041308c8c4d5465d31003c08be1f10de 100644
--- a/src/Event/UnitTests/EventHandlerSpec.cpp
+++ b/src/Event/UnitTests/EventHandlerSpec.cpp
@@ -39,11 +39,11 @@
using namespace bandit;
using namespace mstk::Event;
-struct MyObserver : public smCoreClass
+struct MyObserver : public CoreClass
{
MyObserver(mstk::Event::EventType _eventType) : success(false), eventType(_eventType) {}
- void handleEvent(std::shared_ptr<smEvent> event) override
+ void handleEvent(std::shared_ptr<Event> event) override
{
std::shared_ptr<smKeyboardEvent> keyboardEvent = std::static_pointer_cast<smKeyboardEvent>(event);
if(keyboardEvent != nullptr && smKeyboardEvent::EventName == eventType)
@@ -109,8 +109,8 @@ go_bandit([](){
it("attaches events ", []() {
std::shared_ptr<smEventHandler> eventHandler = std::make_shared<smEventHandler>();
- smEvent::Pointer event = std::make_shared<smEvent>();
- smCoreClass::Pointer observer = std::make_shared<smCoreClass>();
+ Event::Pointer event = std::make_shared<Event>();
+ CoreClass::Pointer observer = std::make_shared<CoreClass>();
eventHandler->attachEvent(mstk::Event::EventType::Audio,observer);
@@ -120,8 +120,8 @@ go_bandit([](){
it("detaches events ", []() {
std::shared_ptr<smEventHandler> eventHandler = std::make_shared<smEventHandler>();
- smEvent::Pointer event = std::make_shared<smEvent>();
- smCoreClass::Pointer observer = std::make_shared<smCoreClass>();
+ Event::Pointer event = std::make_shared<Event>();
+ CoreClass::Pointer observer = std::make_shared<CoreClass>();
eventHandler->attachEvent(mstk::Event::EventType::Audio,observer);
@@ -135,12 +135,12 @@ go_bandit([](){
it("dispatches events ", []() {
std::shared_ptr<smEventHandler> eventHandler = std::make_shared<smEventHandler>();
- smEvent::Pointer event = std::make_shared<smEvent>();
+ Event::Pointer event = std::make_shared<Event>();
std::shared_ptr<MyObserver> observer;
observer = std::make_shared<MyObserver>(mstk::Event::EventType::None);
eventHandler->attachEvent(mstk::Event::EventType::None,observer);
- eventHandler->triggerEvent(std::make_shared<smEvent>());
+ eventHandler->triggerEvent(std::make_shared<Event>());
AssertThat(observer->success, IsFalse());
observer = std::make_shared<MyObserver>(mstk::Event::EventType::Audio);
diff --git a/src/Geometry/MeshModel.cpp b/src/Geometry/MeshModel.cpp
index 178a35eda5255b76ad6fac9d716e4ae00a900e66..05008ff084ebea961a5dda4e62dd93104cf769f0 100644
--- a/src/Geometry/MeshModel.cpp
+++ b/src/Geometry/MeshModel.cpp
@@ -58,26 +58,26 @@ void smMeshModel::load(const std::string& meshName, const smMeshFileType& type)
this->mesh->loadMesh(meshName, type);
}
-const smVec3d& smMeshModel::getNormal(size_t i) const
+const core::Vec3d& smMeshModel::getNormal(size_t i) const
{
return this->mesh->triNormals[i];
}
-std::array<smVec3d,3> smMeshModel::getTrianglePositions(size_t i) const
+std::array<core::Vec3d,3> smMeshModel::getTrianglePositions(size_t i) const
{
- std::array<smVec3d, 3> vertices;
+ std::array<core::Vec3d, 3> vertices;
vertices[0] = this->mesh->vertices[this->mesh->triangles[i].vert[0]];
vertices[1] = this->mesh->vertices[this->mesh->triangles[i].vert[1]];
vertices[2] = this->mesh->vertices[this->mesh->triangles[i].vert[2]];
return vertices;
}
-const smStdVector3d& smMeshModel::getVertices() const
+const core::StdVector3d& smMeshModel::getVertices() const
{
return mesh->getVertices();
}
void smMeshModel::draw()
{
- smRenderDelegate::Ptr delegate = this->mesh->getRenderDelegate();
+ RenderDelegate::Ptr delegate = this->mesh->getRenderDelegate();
if (delegate)
delegate->draw();
}
@@ -104,7 +104,7 @@ void smMeshModel::load(const std::string& meshFileName, const std::string& textu
this->mesh->assignTexture(textureName);
}
}
-void smMeshModel::setRenderDetail(std::shared_ptr< smRenderDetail > renderDetail)
+void smMeshModel::setRenderDetail(std::shared_ptr< RenderDetail > renderDetail)
{
this->mesh->setRenderDetail(renderDetail);
}
diff --git a/src/Geometry/MeshModel.h b/src/Geometry/MeshModel.h
index a06a87c7fd81250c70239e4bf4fc2b3770e42830..8def4d5ceaa3e38107f2efd898e88dc87ae374e3 100644
--- a/src/Geometry/MeshModel.h
+++ b/src/Geometry/MeshModel.h
@@ -39,7 +39,7 @@
///
/// @see smMeshCollisionModel
///
-class smMeshModel : public smModelRepresentation
+class smMeshModel : public ModelRepresentation
{
public:
///
@@ -65,22 +65,22 @@ public:
///
/// @brief Set the rendering details for this mesh
///
- void setRenderDetail(std::shared_ptr<smRenderDetail> renderDetail);
+ void setRenderDetail(std::shared_ptr<RenderDetail> renderDetail);
///
/// @brief Returns normal vectors for triangles on mesh surface
///
- const smVec3d &getNormal(size_t i) const;
+ const core::Vec3d &getNormal(size_t i) const;
///
/// @brief Returns array of vertices for triangle on surface
///
- std::array<smVec3d,3> getTrianglePositions(size_t i) const;
+ std::array<core::Vec3d,3> getTrianglePositions(size_t i) const;
///
/// @brief Returns array of vertices
///
- const smStdVector3d &getVertices() const;
+ const core::StdVector3d &getVertices() const;
///
/// @brief Draw this mesh
diff --git a/src/Geometry/PlaneModel.cpp b/src/Geometry/PlaneModel.cpp
index 2674aafb26922526c189d12bf9e035221208f4ac..3da792313522dd34e07eadf540e098bf41677b97 100644
--- a/src/Geometry/PlaneModel.cpp
+++ b/src/Geometry/PlaneModel.cpp
@@ -23,9 +23,9 @@
#include "PlaneModel.h"
-smPlaneModel::smPlaneModel(const smVec3d& p, const smVec3d& n)
+smPlaneModel::smPlaneModel(const core::Vec3d& p, const core::Vec3d& n)
{
- this->plane = std::make_shared<smPlane>(p, n);
+ this->plane = std::make_shared<Plane>(p, n);
this->transform = RigidTransformType::Identity();
}
smPlaneModel::~smPlaneModel() {}
@@ -33,18 +33,18 @@ void smPlaneModel::draw()
{
this->plane->draw();
}
-const smVec3d& smPlaneModel::getNormal() const
+const core::Vec3d& smPlaneModel::getNormal() const
{
return this->transform.linear() * this->plane->getUnitNormal();
}
-void smPlaneModel::setNormal(const smVec3d& normal)
+void smPlaneModel::setNormal(const core::Vec3d& normal)
{
this->plane->setUnitNormal(normal);
}
-const smVec3d& smPlaneModel::getPosition() const
+const core::Vec3d& smPlaneModel::getPosition() const
{
// NB: This static variable makes the function thread-unsafe.
- static smVec3d result;
+ static core::Vec3d result;
result = this->transform * this->plane->getPoint();
return result;
}
@@ -57,12 +57,12 @@ void smPlaneModel::setTransform(const smPlaneModel::RigidTransformType& t)
this->transform = t;
}
-void smPlaneModel::setPlaneModel(const std::shared_ptr<smPlane> &p)
+void smPlaneModel::setPlaneModel(const std::shared_ptr<Plane> &p)
{
this->plane = p;
}
-std::shared_ptr<smPlane> smPlaneModel::getPlaneModel() const
+std::shared_ptr<Plane> smPlaneModel::getPlaneModel() const
{
return plane;
}
diff --git a/src/Geometry/PlaneModel.h b/src/Geometry/PlaneModel.h
index 95e431c7b077ffb1de34ae7728f69d757eea13eb..ffa2415ce2f17f7b584efc3540611fd95fd892d1 100644
--- a/src/Geometry/PlaneModel.h
+++ b/src/Geometry/PlaneModel.h
@@ -41,7 +41,7 @@
///
/// @see smPlaneCollisionModel
///
-class smPlaneModel : public smModelRepresentation
+class smPlaneModel : public ModelRepresentation
{
public:
using RigidTransformType = Eigen::Transform<double, 3, Eigen::Isometry>;
@@ -50,7 +50,7 @@ public:
///
/// @brief Constructor
///
- smPlaneModel(const smVec3d& p, const smVec3d& n);
+ smPlaneModel(const core::Vec3d& p, const core::Vec3d& n);
///
/// @brief Destructor
@@ -65,17 +65,17 @@ public:
///
/// @brief Returns normal vectors for triangles on mesh surface
///
- const smVec3d &getNormal() const;
+ const core::Vec3d &getNormal() const;
///
/// @brief Set plane normal
///
- void setNormal(const smVec3d &normal);
+ void setNormal(const core::Vec3d &normal);
///
/// @brief Get relative position of the plane
///
- const smVec3d &getPosition() const;
+ const core::Vec3d &getPosition() const;
///
/// @brief Get transformation operator
@@ -90,16 +90,16 @@ public:
///
/// @brief Set transformation operator
///
- void setPlaneModel(const std::shared_ptr<smPlane> &p);
+ void setPlaneModel(const std::shared_ptr<Plane> &p);
///
/// @brief Set transformation operator
///
- std::shared_ptr<smPlane> getPlaneModel() const;
+ std::shared_ptr<Plane> getPlaneModel() const;
protected:
// Plane data and transform
- std::shared_ptr<smPlane> plane;
+ std::shared_ptr<Plane> plane;
RigidTransformType transform;
};
diff --git a/src/Geometry/UnitTests/MeshModelSpec.cpp b/src/Geometry/UnitTests/MeshModelSpec.cpp
index e1a8210007dc1b45f7c644061aec94378b0631a5..0855b49930b6b72fae13ad1b7998a417b221b514 100644
--- a/src/Geometry/UnitTests/MeshModelSpec.cpp
+++ b/src/Geometry/UnitTests/MeshModelSpec.cpp
@@ -28,7 +28,7 @@
using namespace bandit;
-std::shared_ptr<smMeshModel> getModel(const smStdVector3d &vertices)
+std::shared_ptr<smMeshModel> getModel(const core::StdVector3d &vertices)
{
std::shared_ptr<smMeshModel> model = std::make_shared<smMeshModel>();
std::shared_ptr<smMesh> mesh = std::make_shared<smSurfaceMesh>();
@@ -61,7 +61,7 @@ go_bandit([](){
});
it("can access mesh vertices", []() {
- smStdVector3d vertices;
+ core::StdVector3d vertices;
vertices.emplace_back(1.0,2.0,0);
vertices.emplace_back(2.0,3.0,0);
vertices.emplace_back(2.0,1.0,0);
@@ -75,14 +75,14 @@ go_bandit([](){
});
it("can access mesh face normals", []() {
- smStdVector3d vertices;
+ core::StdVector3d vertices;
vertices.emplace_back(1.0,2.0,0);
vertices.emplace_back(2.0,3.0,0);
vertices.emplace_back(2.0,1.0,0);
auto model = getModel(vertices);
- smVec3d normalA = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]).normalized();
+ core::Vec3d normalA = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]).normalized();
AssertThat((model->getNormal(0)-normalA).squaredNorm(), EqualsWithDelta(0.0,.00001));
});
diff --git a/src/Mesh/ImportExport.h b/src/Mesh/ImportExport.h
index 6f336ed64326bf28e62f59998434cdabbbf07288..1d13f730e4e6a072b81154a972b7ce85b2e03f30 100644
--- a/src/Mesh/ImportExport.h
+++ b/src/Mesh/ImportExport.h
@@ -36,7 +36,7 @@ enum smExportOptions
};
/// \brief class for importing and exporting meshes
-class smImportExport: public smCoreClass
+class smImportExport: public CoreClass
{
public:
diff --git a/src/Mesh/Lattice.cpp b/src/Mesh/Lattice.cpp
index 731eb1f3f314b6db0cf5f0f4169e799af596ce23..9cfb7ceec226a1a996aaa565124b0bcfa0f01de1 100644
--- a/src/Mesh/Lattice.cpp
+++ b/src/Mesh/Lattice.cpp
@@ -35,7 +35,7 @@ smLattice::smLattice()
this->ySeperation = 0;
this->zSeperation = 0;
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createSubclass(
+ Factory<RenderDelegate>::createSubclass(
"RenderDelegate", "LatticeRenderDelegate"));
}
float smLattice::getXStep()
@@ -50,15 +50,15 @@ float smLattice::getZStep()
{
return zStep;
}
-smVec3d smLattice::getLatticeCenter()
+core::Vec3d smLattice::getLatticeCenter()
{
return latticeCenter;
}
-smVec3d smLattice::getLeftMinCorner()
+core::Vec3d smLattice::getLeftMinCorner()
{
return cells[0].cellLeftCorner;
}
-smVec3d smLattice::getRightMaxCorner()
+core::Vec3d smLattice::getRightMaxCorner()
{
return cells[totalCells - 1].cellRightCorner;
}
@@ -67,7 +67,7 @@ smLattice::~smLattice()
delete[] cells;
delete[] aabb;
}
-smLatticeReturnType smLattice::init( smVec3d p_leftCorner, smVec3d p_rightCorner, int p_xSeperation, int p_ySeperation, int p_zSeperation )
+smLatticeReturnType smLattice::init( core::Vec3d p_leftCorner, core::Vec3d p_rightCorner, int p_xSeperation, int p_ySeperation, int p_zSeperation )
{
int x, y, z;
@@ -153,7 +153,7 @@ void smLattice::linkPrimitivetoCell( int p_primitiveIndex )
int maxY;
int maxZ;
int index;
- smVec3d leftCorner = getLeftMinCorner();
+ core::Vec3d leftCorner = getLeftMinCorner();
minX = ( aabb[p_primitiveIndex].aabbMin[0] - leftCorner[0] ) / xStep;
minY = ( aabb[p_primitiveIndex].aabbMin[1] - leftCorner[1] ) / yStep;
@@ -232,7 +232,7 @@ void smLattice::linkPrims()
linkPrimitivetoCell( i );
}
}
-void smLattice::addObject( smSceneObject *obj )
+void smLattice::addObject( SceneObject *obj )
{
core::ClassType objectType;
linkedObject = obj->getObjectUnifiedID();
@@ -242,7 +242,7 @@ void smLattice::addObject( smSceneObject *obj )
{
case core::ClassType::StaticSceneObject:
{
- auto staticSceneObject = static_cast<smStaticSceneObject*>(obj);
+ auto staticSceneObject = static_cast<StaticSceneObject*>(obj);
auto model = staticSceneObject->getModel();
if(nullptr == model)
{
diff --git a/src/Mesh/Lattice.h b/src/Mesh/Lattice.h
index a2fff5b08bfff2d442bd5e37e02f78bf87017199..edcb202ffc5923eaa6d84a4e4c755eaedf0f1619 100644
--- a/src/Mesh/Lattice.h
+++ b/src/Mesh/Lattice.h
@@ -59,8 +59,8 @@ enum smLatticeReturnType
/// \brief !! holds the collision primitive pairs
struct smCollisionPairs
{
- std::shared_ptr<smUnifiedId> objectIndex;
- std::shared_ptr<smUnifiedId> objectIndex2;
+ std::shared_ptr<UnifiedId> objectIndex;
+ std::shared_ptr<UnifiedId> objectIndex2;
int primIndex;
int primIndex2;
};
@@ -79,9 +79,9 @@ class smCell
public:
int id;
int cellId[3];
- smVec3d cellCenter;
- smVec3d cellLeftCorner;
- smVec3d cellRightCorner;
+ core::Vec3d cellCenter;
+ core::Vec3d cellLeftCorner;
+ core::Vec3d cellRightCorner;
smCellPrim cellPrimitives[SIMMEDTK_SPATIALGRID_MAXPRIMITIVES];
int lastPrimitiveIndex;
int timeStamp;
@@ -93,13 +93,13 @@ public:
};
/// \brief !!
-class smLattice: public smCoreClass
+class smLattice: public CoreClass
{
public:
/// \brief !!
void boundingBoxInit()
{
- aabb = new smAABB[mesh->nbrTriangles];
+ aabb = new AABB[mesh->nbrTriangles];
}
/// \brief constructor
@@ -115,19 +115,19 @@ public:
float getZStep();
/// \brief get the center of the lattice
- smVec3d getLatticeCenter();
+ core::Vec3d getLatticeCenter();
/// \brief !! get the left corner of cell 0
- smVec3d getLeftMinCorner();
+ core::Vec3d getLeftMinCorner();
/// \brief !! get the right corner of cell 0
- smVec3d getRightMaxCorner();
+ core::Vec3d getRightMaxCorner();
/// \brief destructor
~smLattice();
/// \brief Initialize the lattice
- smLatticeReturnType init(smVec3d p_leftCorner, smVec3d p_rightCorner,
+ smLatticeReturnType init(core::Vec3d p_leftCorner, core::Vec3d p_rightCorner,
int p_xSeperation, int p_ySeperation, int p_zSeperation);
/// \brief !!
@@ -149,13 +149,13 @@ public:
void linkPrims();
/// \brief !!
- void addObject(smSceneObject *obj);
+ void addObject(SceneObject *obj);
public:
friend class smLatticeRenderDelegate;
//these should be templated..Current design is based on the triangle
- smAABB *aabb;
+ AABB *aabb;
std::shared_ptr<smSurfaceMesh> mesh;
smCell *cells;
int totalCells;
@@ -165,9 +165,9 @@ public:
float xStep;
float yStep;
float zStep;
- smVec3d latticeCenter;
+ core::Vec3d latticeCenter;
int time;
- std::shared_ptr<smUnifiedId> linkedObject;
+ std::shared_ptr<UnifiedId> linkedObject;
};
#endif
diff --git a/src/Mesh/Mesh.cpp b/src/Mesh/Mesh.cpp
index 43c7e7cd3eb1bd96b9572164495f7725cdaaacec..4a994c87cbe7b375ddedff3be71d297a024bbae8 100644
--- a/src/Mesh/Mesh.cpp
+++ b/src/Mesh/Mesh.cpp
@@ -32,7 +32,7 @@
smBaseMesh::smBaseMesh()
{
-// smSDK::getInstance()->registerMesh(safeDownCast<smBaseMesh>());
+// SDK::getInstance()->registerMesh(safeDownCast<smBaseMesh>());
}
void smBaseMesh::updateOriginalVertsWithCurrent()
@@ -55,7 +55,7 @@ smMesh::smMesh()
isTextureCoordAvailable = false;
tangentChannel = false;
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"MeshRenderDelegate"));
}
@@ -79,15 +79,15 @@ void smMesh::allocateAABBTris()
}
/// \brief
-void CalculateTangentArray(int vertexCount, const smVec3d *vertex,
- const smVec3d *normal, const smTexCoord *texcoord,
+void CalculateTangentArray(int vertexCount, const core::Vec3d *vertex,
+ const core::Vec3d *normal, const smTexCoord *texcoord,
long triangleCount, const smTriangle *triangle,
- smVec3d *tangent)
+ core::Vec3d *tangent)
{
- smVec3d *tan1 = new smVec3d[vertexCount * 2];
- smVec3d *tan2 = tan1 + vertexCount;
- memset(tan1, 0, vertexCount * sizeof(smVec3d) * 2);
+ core::Vec3d *tan1 = new core::Vec3d[vertexCount * 2];
+ core::Vec3d *tan2 = tan1 + vertexCount;
+ memset(tan1, 0, vertexCount * sizeof(core::Vec3d) * 2);
for (long a = 0; a < triangleCount; a++)
{
@@ -95,9 +95,9 @@ void CalculateTangentArray(int vertexCount, const smVec3d *vertex,
long i2 = triangle->vert[1];
long i3 = triangle->vert[2];
- const smVec3d& v1 = vertex[i1];
- const smVec3d& v2 = vertex[i2];
- const smVec3d& v3 = vertex[i3];
+ const core::Vec3d& v1 = vertex[i1];
+ const core::Vec3d& v2 = vertex[i2];
+ const core::Vec3d& v3 = vertex[i3];
const smTexCoord& w1 = texcoord[i1];
const smTexCoord& w2 = texcoord[i2];
@@ -116,9 +116,9 @@ void CalculateTangentArray(int vertexCount, const smVec3d *vertex,
float t2 = w3.v - w1.v;
float r = 1.0F / (s1 * t2 - s2 * t1);
- smVec3d sdir((t2 * x1 - t1 * x2) * r, (t2 * y1 - t1 * y2) * r,
+ core::Vec3d sdir((t2 * x1 - t1 * x2) * r, (t2 * y1 - t1 * y2) * r,
(t2 * z1 - t1 * z2) * r);
- smVec3d tdir((s1 * x2 - s2 * x1) * r, (s1 * y2 - s2 * y1) * r,
+ core::Vec3d tdir((s1 * x2 - s2 * x1) * r, (s1 * y2 - s2 * y1) * r,
(s1 * z2 - s2 * z1) * r);
tan1[i1] += sdir;
@@ -134,8 +134,8 @@ void CalculateTangentArray(int vertexCount, const smVec3d *vertex,
for (long a = 0; a < vertexCount; a++)
{
- smVec3d n = normal[a];
- smVec3d t = tan1[a];
+ core::Vec3d n = normal[a];
+ core::Vec3d t = tan1[a];
tangent[a] = (t - n * n.dot(t));
tangent[a].normalize();
}
@@ -153,9 +153,9 @@ void smMesh::calcTriangleTangents()
for (t = 0; t < nbrTriangles; t++)
{
smTriangle *tmpTri = &triangles[t];
- smVec3d *v0 = &vertices[tmpTri->vert[0]];
- smVec3d *v1 = &vertices[tmpTri->vert[1]];
- smVec3d *v2 = &vertices[tmpTri->vert[2]];
+ core::Vec3d *v0 = &vertices[tmpTri->vert[0]];
+ core::Vec3d *v1 = &vertices[tmpTri->vert[1]];
+ core::Vec3d *v2 = &vertices[tmpTri->vert[2]];
smTexCoord *t0 = &texCoord[tmpTri->vert[0]];
smTexCoord *t1 = &texCoord[tmpTri->vert[1]];
smTexCoord *t2 = &texCoord[tmpTri->vert[2]];
@@ -190,11 +190,11 @@ void smMesh::calcTriangleTangents()
}
/// \brief calucate the triangle tangent for rendering purposes
-void smMesh::calculateTangent(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, smVec3d& t)
+void smMesh::calculateTangent(core::Vec3d& p1, core::Vec3d& p2, core::Vec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, core::Vec3d& t)
{
- smVec3d v1;
- smVec3d v2;
+ core::Vec3d v1;
+ core::Vec3d v2;
v1[0] = p2[0] - p1[0];
v1[1] = p2[1] - p1[1];
@@ -215,11 +215,11 @@ void smMesh::calculateTangent(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexCoord&
}
/// \brief
-void smMesh::calculateTangent_test(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, smVec3d& t)
+void smMesh::calculateTangent_test(core::Vec3d& p1, core::Vec3d& p2, core::Vec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, core::Vec3d& t)
{
- smVec3d v1;
- smVec3d v2;
+ core::Vec3d v1;
+ core::Vec3d v2;
v1[0] = p2[0] - p1[0];
v1[1] = p2[1] - p1[1];
@@ -243,7 +243,7 @@ void smMesh::calculateTangent_test(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexC
/// \brief calculates the normal of the vertex
void smMesh::updateVertexNormals()
{
- smVec3d temp = smVec3d::Zero();
+ core::Vec3d temp = core::Vec3d::Zero();
for (int i = 0; i < nbrVertices; i++)
{
@@ -254,7 +254,7 @@ void smMesh::updateVertexNormals()
vertNormals[i] = temp;
vertNormals[i].normalized();
- temp = smVec3d::Zero();
+ temp = core::Vec3d::Zero();
}
}
@@ -269,10 +269,10 @@ void smMesh::updateTriangleNormals()
}
/// \brief calculates the normal of a triangle
-smVec3d smMesh::calculateTriangleNormal(int triNbr)
+core::Vec3d smMesh::calculateTriangleNormal(int triNbr)
{
- smVec3d v[3];
+ core::Vec3d v[3];
smTriangle temp = this->triangles[triNbr];
v[0] = this->vertices[temp.vert[0]];
@@ -294,8 +294,8 @@ bool smMesh::initVertexArrays(int nbr)
this->nbrVertices = nbr;
this->vertices.resize(nbr);
this->origVerts.resize(nbr);
- this->vertNormals = new smVec3d[nbr];
- this->vertTangents = new smVec3d[nbr];
+ this->vertNormals = new core::Vec3d[nbr];
+ this->vertTangents = new core::Vec3d[nbr];
this->texCoord = new smTexCoord[nbr];
return true;
}
@@ -312,8 +312,8 @@ bool smMesh::initTriangleArrays(int nbr)
this->nbrTriangles = nbr;
this->triangles = new smTriangle[nbr];
- this->triNormals = new smVec3d[nbr];
- this->triTangents = new smVec3d[nbr];
+ this->triNormals = new core::Vec3d[nbr];
+ this->triTangents = new core::Vec3d[nbr];
return true;
}
@@ -472,7 +472,7 @@ void smMesh::translate(float p_offsetX, float p_offsetY, float p_offsetZ)
}
/// \brief
-void smMesh::translate(smVec3d p_offset)
+void smMesh::translate(core::Vec3d p_offset)
{
for (int i = 0; i < nbrVertices; i++)
@@ -485,7 +485,7 @@ void smMesh::translate(smVec3d p_offset)
}
/// \brief
-void smMesh::scale(smVec3d p_scaleFactors)
+void smMesh::scale(core::Vec3d p_scaleFactors)
{
for (int i = 0; i < nbrVertices; i++)
@@ -503,7 +503,7 @@ void smMesh::scale(smVec3d p_scaleFactors)
}
/// \brief
-void smMesh::rotate(const smMatrix33d &p_rot)
+void smMesh::rotate(const Matrix33d &p_rot)
{
for (int i = 0; i < nbrVertices; i++)
@@ -654,7 +654,7 @@ smLineMesh::smLineMesh( int p_nbrVertices ) : smBaseMesh()
nbrVertices = p_nbrVertices;
vertices.reserve( nbrVertices );
origVerts.reserve( nbrVertices );
- edgeAABBs = new smAABB[nbrVertices - 1];
+ edgeAABBs = new AABB[nbrVertices - 1];
texCoord = new smTexCoord[nbrVertices];
edges = new smEdge[nbrVertices - 1];
nbrEdges = nbrVertices - 1;
@@ -694,11 +694,11 @@ void smLineMesh::createAutoEdges()
}
void smLineMesh::updateAABB()
{
- smAABB tempAABB;
- smVec3d minOffset( -2.0, -2.0, -2.0 );
- smVec3d maxOffset( 1.0, 1.0, 1.0 );
- smVec3d minEdgeOffset( -0.1, -0.1, -0.1 );
- smVec3d maxEdgeOffset( 0.1, 0.1, 0.1 );
+ AABB tempAABB;
+ core::Vec3d minOffset( -2.0, -2.0, -2.0 );
+ core::Vec3d maxOffset( 1.0, 1.0, 1.0 );
+ core::Vec3d minEdgeOffset( -0.1, -0.1, -0.1 );
+ core::Vec3d maxEdgeOffset( 0.1, 0.1, 0.1 );
tempAABB.aabbMin[0] = std::numeric_limits<double>::max();
tempAABB.aabbMin[1] = std::numeric_limits<double>::max();
@@ -745,7 +745,7 @@ void smLineMesh::translate( float p_offsetX, float p_offsetY, float p_offsetZ )
updateAABB();
}
-void smLineMesh::translate( smVec3d p_offset )
+void smLineMesh::translate( core::Vec3d p_offset )
{
for ( int i = 0; i < nbrVertices; i++ )
@@ -756,7 +756,7 @@ void smLineMesh::translate( smVec3d p_offset )
updateAABB();
}
-void smLineMesh::rotate( smMatrix33d p_rot )
+void smLineMesh::rotate( Matrix33d p_rot )
{
for ( int i = 0; i < nbrVertices; i++ )
@@ -767,7 +767,7 @@ void smLineMesh::rotate( smMatrix33d p_rot )
updateAABB();
}
-void smLineMesh::scale( smVec3d p_scaleFactors )
+void smLineMesh::scale( core::Vec3d p_scaleFactors )
{
for ( int i = 0; i < nbrVertices; i++ )
diff --git a/src/Mesh/Mesh.h b/src/Mesh/Mesh.h
index d204f2ca94a39063492acf1e36a567e612b1b9c0..4365a3af24e44cb700ed8c62667bee76e54c3b03 100644
--- a/src/Mesh/Mesh.h
+++ b/src/Mesh/Mesh.h
@@ -75,7 +75,7 @@ struct smTextureAttachment
};
/// \brief base class for the mesh
-class smBaseMesh: public smCoreClass
+class smBaseMesh: public CoreClass
{
public:
/// \brief constructor
@@ -93,7 +93,7 @@ public:
/// \brief update the original texture vertices with the current
void updateOriginalVertsWithCurrent();
- const smStdVector3d &getVertices() const
+ const core::StdVector3d &getVertices() const
{
return this->vertices;
}
@@ -106,11 +106,11 @@ public:
public:
smCollisionGroup collisionGroup; ///< !!
GLint renderingID; ///< !!
- std::shared_ptr<smErrorLog> log; ///< record the log
- smStdVector3d vertices; ///< vertices co-ordinate data at time t
- smStdVector3d origVerts; ///< vertices co-ordinate data at time t=0
+ std::shared_ptr<ErrorLog> log; ///< record the log
+ core::StdVector3d vertices; ///< vertices co-ordinate data at time t
+ core::StdVector3d origVerts; ///< vertices co-ordinate data at time t=0
int nbrVertices; ///< number of vertices
- smAABB aabb; ///< Axis aligned bounding box
+ AABB aabb; ///< Axis aligned bounding box
bool isTextureCoordAvailable; ///< true if the texture co-ordinate is available
smTexCoord *texCoord; ///< texture co-ordinates
std::vector<smTextureAttachment> textureIds; ///< !!
@@ -146,7 +146,7 @@ public:
void allocateAABBTris();
/// \brief compute the normal of a triangle
- smVec3d calculateTriangleNormal(int triNbr);
+ core::Vec3d calculateTriangleNormal(int triNbr);
/// \brief update the normals of triangles after they moved
void updateTriangleNormals();
@@ -164,10 +164,10 @@ public:
void calcTriangleTangents();
/// \brief compute the tangent give the three vertices
- void calculateTangent(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, smVec3d& t);
+ void calculateTangent(core::Vec3d& p1, core::Vec3d& p2, core::Vec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, core::Vec3d& t);
/// \brief !!
- void calculateTangent_test(smVec3d& p1, smVec3d& p2, smVec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, smVec3d& t);
+ void calculateTangent_test(core::Vec3d& p1, core::Vec3d& p2, core::Vec3d& p3, smTexCoord& t1, smTexCoord& t2, smTexCoord& t3, core::Vec3d& t);
/// \brief find the neighbors of all vertices of mesh
void calcNeighborsVertices();
@@ -179,13 +179,13 @@ public:
void translate(float, float, float);
/// \brief translate the mesh
- void translate(smVec3d p_offset);
+ void translate(core::Vec3d p_offset);
/// \brief scale the mesh
- void scale(smVec3d p_scaleFactors);
+ void scale(core::Vec3d p_scaleFactors);
/// \brief rotate the mesh
- void rotate(const smMatrix33d &p_rot);
+ void rotate(const Matrix33d &p_rot);
/// \brief check if there is a consistent orientation of triangle vertices
/// across the entire surface mesh
@@ -217,10 +217,10 @@ public:
smTriangle *triangles; ///< list of triangles
smTexCoord *texCoordForTrianglesOBJ; ///< !! tansel for OBJ
int nbrTexCoordForTrainglesOBJ; ///< !! tansel for OBJ
- smVec3d *triNormals; ///< triangle normals
- smVec3d *vertNormals; ///< vertex normals
- smVec3d *triTangents; ///< triangle tangents
- smVec3d *vertTangents; ///< vertex tangents
+ core::Vec3d *triNormals; ///< triangle normals
+ core::Vec3d *vertNormals; ///< vertex normals
+ core::Vec3d *triTangents; ///< triangle tangents
+ core::Vec3d *vertTangents; ///< vertex tangents
bool tangentChannel; ///< !!
std::vector< std::vector<int> > vertTriNeighbors; ///< list of neighbors for a triangle
std::vector< std::vector<int> > vertVertNeighbors; ///< list of neighbors for a vertex
@@ -229,7 +229,7 @@ public:
///AABBB of the mesh.
///This value is allocated and computed by only collision detection module
///Therefore it is initially NULL
- std::vector<smAABB> triAABBs;
+ std::vector<AABB> triAABBs;
smMeshType meshType; ///< type of mesh (rigid, deformable etc.)
smMeshFileType meshFileType; ///< type of input mesh
@@ -290,19 +290,19 @@ public:
void translate(float p_offsetX, float p_offsetY, float p_offsetZ);
/// \brief translate the vertices of mesh
- void translate(smVec3d p_offset);
+ void translate(core::Vec3d p_offset);
/// \brief scale the mesh
- void scale(smVec3d p_scaleFactors);
+ void scale(core::Vec3d p_scaleFactors);
/// \brief rotate the mesh
- void rotate(smMatrix33d p_rot);
+ void rotate(Matrix33d p_rot);
/// \brief query if the mesh is textured
bool isMeshTextured();
public:
- smAABB *edgeAABBs;///< AABBs for the edges in the mesh
+ AABB *edgeAABBs;///< AABBs for the edges in the mesh
smEdge *edges;///< edges of the line mesh
int nbrEdges;///< number of edges of the line mesh
diff --git a/src/Mesh/SurfaceMesh.cpp b/src/Mesh/SurfaceMesh.cpp
index a4010ba77b91a16ba04bffb3fac111a061123ed2..72e925f7f25f85b60c2c534320cae510b8a699a1 100644
--- a/src/Mesh/SurfaceMesh.cpp
+++ b/src/Mesh/SurfaceMesh.cpp
@@ -50,7 +50,7 @@ size_t Filelength(const char * filename, int)
#endif
/// \brief constructor
-smSurfaceMesh::smSurfaceMesh(const smMeshType &p_meshtype, std::shared_ptr<smErrorLog> log)
+smSurfaceMesh::smSurfaceMesh(const smMeshType &p_meshtype, std::shared_ptr<ErrorLog> log)
{
this->log_SF = log;
@@ -212,7 +212,7 @@ bool smSurfaceMesh::LoadMeshAssimp(const std::string& fileName)
//Get indexed vertex data
for (size_t i = 0; i < mesh->mNumVertices; i++)
{
- this->vertices[i] = smVec3d(mesh->mVertices[i][0],
+ this->vertices[i] = core::Vec3d(mesh->mVertices[i][0],
mesh->mVertices[i][1],
mesh->mVertices[i][2]);
}
@@ -342,8 +342,8 @@ bool smSurfaceMesh::Load3dsMesh(const std::string& fileName)
this->nbrVertices = l_qty;
this->vertices.reserve(l_qty);
this->origVerts.reserve(l_qty);
- this->vertNormals = new smVec3d[l_qty];
- this->vertTangents = new smVec3d[l_qty];
+ this->vertNormals = new core::Vec3d[l_qty];
+ this->vertTangents = new core::Vec3d[l_qty];
this->texCoord = new smTexCoord[l_qty];
for (int fpt = 0; fpt < this->nbrVertices; fpt++)
@@ -366,8 +366,8 @@ bool smSurfaceMesh::Load3dsMesh(const std::string& fileName)
fread(&l_qty, sizeof(unsigned short), 1, l_file);
this->nbrTriangles = l_qty;
this->triangles = new smTriangle[l_qty];
- this->triNormals = new smVec3d[l_qty];
- this->triTangents = new smVec3d[l_qty];
+ this->triNormals = new core::Vec3d[l_qty];
+ this->triTangents = new core::Vec3d[l_qty];
for (i = 0; i < l_qty; i++)
{
@@ -422,7 +422,7 @@ bool smSurfaceMesh::Load3dsMesh(const std::string& fileName)
}
smSurfaceMesh::smSurfaceMesh()
{
- this->log_SF = std::shared_ptr<smErrorLog>();
+ this->log_SF = std::shared_ptr<ErrorLog>();
meshType = SMMESH_DEFORMABLE;
meshFileType = SM_FILETYPE_NONE;
}
diff --git a/src/Mesh/SurfaceMesh.h b/src/Mesh/SurfaceMesh.h
index 4f24fdda5abc5074d2200316623e83738d284464..161147dd197ff33c7c806cd380669da0c9275193 100644
--- a/src/Mesh/SurfaceMesh.h
+++ b/src/Mesh/SurfaceMesh.h
@@ -33,13 +33,13 @@ class smSurfaceMesh: public smMesh
public:
/// \brief push smMesh class specific errors here
- std::shared_ptr<smErrorLog> log_SF;
+ std::shared_ptr<ErrorLog> log_SF;
/// \brief constructor
smSurfaceMesh();
/// \brief constructor
- smSurfaceMesh(const smMeshType &meshtype, std::shared_ptr<smErrorLog> log);
+ smSurfaceMesh(const smMeshType &meshtype, std::shared_ptr<ErrorLog> log);
/// \brief destructor
virtual ~smSurfaceMesh();
diff --git a/src/Mesh/VegaVolumetricMesh.cpp b/src/Mesh/VegaVolumetricMesh.cpp
index 146fd97dc7fe83b9c1cfd534444e96f68685ca38..b0286ce8f0389cfeb32fd05c32cbbe646f08fad1 100644
--- a/src/Mesh/VegaVolumetricMesh.cpp
+++ b/src/Mesh/VegaVolumetricMesh.cpp
@@ -67,7 +67,7 @@ size_t smVegaVolumetricMesh::getNumberOfElements() const
}
void smVegaVolumetricMesh::attachSurfaceMesh(std::shared_ptr<smSurfaceMesh> surfaceMesh, const double &radius)
{
- const smStdVector3d &meshVertices = surfaceMesh->getVertices();
+ const core::StdVector3d &meshVertices = surfaceMesh->getVertices();
int numElementVertices = this->mesh->getNumElementVertices();
int surfaceMeshSize = meshVertices.size();
diff --git a/src/Mesh/VolumeMesh.cpp b/src/Mesh/VolumeMesh.cpp
index 53a4a2f7a07deabec338e9d70cda649b526e109f..7d9d3c6e0624403660e03b7f86a7ad48db33402b 100644
--- a/src/Mesh/VolumeMesh.cpp
+++ b/src/Mesh/VolumeMesh.cpp
@@ -25,7 +25,7 @@
/// \brief constructor
-smVolumeMesh::smVolumeMesh(const smMeshType &p_meshtype, std::shared_ptr<smErrorLog> log)
+smVolumeMesh::smVolumeMesh(const smMeshType &p_meshtype, std::shared_ptr<ErrorLog> log)
{
this->log_VM = log;
@@ -63,7 +63,7 @@ bool smVolumeMesh::loadMesh(const std::string& fileName, const smMeshFileType &f
}
/// \brief
-void smVolumeMesh::translateVolumeMesh(const smVec3d &p_offset)
+void smVolumeMesh::translateVolumeMesh(const core::Vec3d &p_offset)
{
this->translate(p_offset);
@@ -75,7 +75,7 @@ void smVolumeMesh::translateVolumeMesh(const smVec3d &p_offset)
}
/// \brief
-void smVolumeMesh::scaleVolumeMesh(const smVec3d &p_offset)
+void smVolumeMesh::scaleVolumeMesh(const core::Vec3d &p_offset)
{
scale(p_offset);
@@ -87,7 +87,7 @@ void smVolumeMesh::scaleVolumeMesh(const smVec3d &p_offset)
}
/// \brief
-void smVolumeMesh::rotVolumeMesh(const smMatrix33d &p_rot)
+void smVolumeMesh::rotVolumeMesh(const Matrix33d &p_rot)
{
rotate(p_rot);
@@ -131,8 +131,8 @@ bool smVolumeMesh::LoadTetra(const std::string& fileName)
for (i = 0; i < nbrNodes; i++)
{
- nodes.emplace_back(smVec3d());
- smVec3d &node = nodes.back();
+ nodes.emplace_back(core::Vec3d());
+ core::Vec3d &node = nodes.back();
fscanf(fp, "%f", &number);
nodeNumber[i] = number;
fscanf(fp, "%c", &comma);
diff --git a/src/Mesh/VolumeMesh.h b/src/Mesh/VolumeMesh.h
index a23cc8051bc779ba14dd50410b9ecd4968f4786a..26155c693ab4510478cd4997a33b26461125eb1a 100644
--- a/src/Mesh/VolumeMesh.h
+++ b/src/Mesh/VolumeMesh.h
@@ -40,7 +40,7 @@ public:
smVolumeMesh();
/// \brief constructor
- smVolumeMesh(const smMeshType &meshtype, std::shared_ptr<smErrorLog> log);
+ smVolumeMesh(const smMeshType &meshtype, std::shared_ptr<ErrorLog> log);
/// \brief destructor
~smVolumeMesh();
@@ -64,13 +64,13 @@ public:
void copySurface();
/// \brief translate mesh vertices in x, y and z directions
- void translateVolumeMesh(const smVec3d &p_translate);
+ void translateVolumeMesh(const core::Vec3d &p_translate);
/// \brief scale the volume mesh
- void scaleVolumeMesh(const smVec3d &p_scale);
+ void scaleVolumeMesh(const core::Vec3d &p_scale);
/// \brief rotate mesh vertices in x, y and z directions
- void rotVolumeMesh(const smMatrix33d &p_rot);
+ void rotVolumeMesh(const Matrix33d &p_rot);
/// \brief load the mesh
bool loadMesh(const std::string& fileName, const smMeshFileType &fileType);
@@ -85,8 +85,8 @@ public:
/// push smMesh class specific errors here
int nbrTetra; ///< number of tetrahedra
int nbrNodes; ///< total number of nodes of the volume mesh
- std::shared_ptr<smErrorLog> log_VM; ///< log the errors with volume mesh class
- smStdVector3d nodes; ///< data of nodal co-ordinates
+ std::shared_ptr<ErrorLog> log_VM; ///< log the errors with volume mesh class
+ core::StdVector3d nodes; ///< data of nodal co-ordinates
std::vector<smTetrahedra> tetra; ///< tetrahedra data
std::vector<int> surfaceNodeIndex; ///<
std::vector<bool> fixed; ///< indicates if the node is fixed or not
diff --git a/src/RenderDelegates/AABBRenderDelegate.cpp b/src/RenderDelegates/AABBRenderDelegate.cpp
index edc6617049f12b46d324139d912b19db9d3fcf5a..9f062310245000efbd3a54365e30a8e41e049bfb 100644
--- a/src/RenderDelegates/AABBRenderDelegate.cpp
+++ b/src/RenderDelegates/AABBRenderDelegate.cpp
@@ -2,7 +2,7 @@
#include "Core/RenderDelegate.h"
#include "Core/Factory.h"
-class smAABBRenderDelegate : public smRenderDelegate
+class smAABBRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -10,7 +10,7 @@ public:
void smAABBRenderDelegate::draw() const
{
- smAABB* geom = this->getSourceGeometryAs<smAABB>();
+ AABB* geom = this->getSourceGeometryAs<AABB>();
if (!geom)
return;
@@ -48,6 +48,6 @@ void smAABBRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_aabb_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smAABBRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smAABBRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/FemSceneRenderDelegate.cpp b/src/RenderDelegates/FemSceneRenderDelegate.cpp
index 653d58cfdc18e6455fb403c2feb157957846d3f1..4efb7b862d12fc7e33bb7d9da35f4d8497d98284 100644
--- a/src/RenderDelegates/FemSceneRenderDelegate.cpp
+++ b/src/RenderDelegates/FemSceneRenderDelegate.cpp
@@ -3,7 +3,7 @@
#include "Core/Factory.h"
#include "Mesh/VolumeMesh.h"
-class smFemSceneRenderDelegate : public smRenderDelegate
+class smFemSceneRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -12,13 +12,13 @@ public:
void smFemSceneRenderDelegate::draw() const
{
smVolumeMesh* v_mesh = this->getSourceGeometryAs<smFemSceneObject>()->v_mesh;
- smRenderDelegate::Ptr delegate = v_mesh->getRenderDelegate();
+ RenderDelegate::Ptr delegate = v_mesh->getRenderDelegate();
if (delegate)
delegate->draw();
}
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_fem_scene_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smFemSceneRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smFemSceneRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/LatticeRenderDelegate.cpp b/src/RenderDelegates/LatticeRenderDelegate.cpp
index b16b262d250bc0ef46a82661eafe2083d05894d0..e70575c3a5ab94379176434c3df987db9675743c 100644
--- a/src/RenderDelegates/LatticeRenderDelegate.cpp
+++ b/src/RenderDelegates/LatticeRenderDelegate.cpp
@@ -2,7 +2,7 @@
#include "Core/RenderDelegate.h"
#include "Core/Factory.h"
-class smLatticeRenderDelegate : public smRenderDelegate
+class smLatticeRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -25,14 +25,14 @@ void smLatticeRenderDelegate::draw() const
}
glMatrixMode( GL_MODELVIEW );
- glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&smColor::colorYellow));
+ glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&Color::colorYellow));
if ( latticeMode & SIMMEDTK_SMLATTICE_SEPERATIONLINES )
{
for ( int j = 0; j < geom->ySeperation; j++ )
{
glDisable( GL_LIGHTING );
- glColor3fv(reinterpret_cast<GLfloat*>(&smColor::colorWhite));
+ glColor3fv(reinterpret_cast<GLfloat*>(&Color::colorWhite));
glBegin( GL_LINES );
@@ -84,7 +84,7 @@ void smLatticeRenderDelegate::draw() const
glEnable( GL_COLOR_MATERIAL );
glBegin( GL_LINE_STRIP );
- glColor3fv( reinterpret_cast<GLfloat*>(&smColor::colorWhite));
+ glColor3fv( reinterpret_cast<GLfloat*>(&Color::colorWhite));
glVertex3dv( geom->cells[index].cellLeftCorner.data() );
glVertex3d( geom->cells[index].cellLeftCorner[0] + geom->xStep,
geom->cells[index].cellLeftCorner[1],
@@ -115,7 +115,7 @@ void smLatticeRenderDelegate::draw() const
glEnd();
glBegin( GL_LINES );
- glColor3fv( reinterpret_cast<GLfloat*>(&smColor::colorWhite));
+ glColor3fv( reinterpret_cast<GLfloat*>(&Color::colorWhite));
glVertex3dv( geom->cells[index].cellLeftCorner.data() );
glVertex3d( geom->cells[index].cellLeftCorner[0],
geom->cells[index].cellLeftCorner[1] + geom->yStep,
@@ -153,7 +153,7 @@ void smLatticeRenderDelegate::draw() const
glPushMatrix();
glPushMatrix();
glTranslatef( geom->cells[0].cellLeftCorner[0], geom->cells[0].cellLeftCorner[1], geom->cells[0].cellLeftCorner[2] );
- glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&smColor::colorYellow));
+ glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&Color::colorYellow));
// glutSolidSphere( 2, 20, 20 );
glPopMatrix();
@@ -161,7 +161,7 @@ void smLatticeRenderDelegate::draw() const
glTranslatef( geom->cells[geom->totalCells - 1].cellRightCorner[0],
geom->cells[geom->totalCells - 1].cellRightCorner[1],
geom->cells[geom->totalCells - 1].cellRightCorner[2] );
- glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&smColor::colorRed));
+ glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, reinterpret_cast<GLfloat*>(&Color::colorRed));
// glutSolidSphere( 2, 20, 20 );
glPopMatrix();
glPopMatrix();
@@ -170,6 +170,6 @@ void smLatticeRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_lattice_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smLatticeRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smLatticeRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/MeshRenderDelegate.cpp b/src/RenderDelegates/MeshRenderDelegate.cpp
index b153ce71959f0244e856f31dcfa515a93fa6885f..b0d74104c13d5214ea4b598a7a48626ea2d97e67 100644
--- a/src/RenderDelegates/MeshRenderDelegate.cpp
+++ b/src/RenderDelegates/MeshRenderDelegate.cpp
@@ -3,7 +3,7 @@
#include "Core/Factory.h"
#include "Mesh/Mesh.h"
-class smMeshRenderDelegate : public smRenderDelegate
+class smMeshRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -38,6 +38,6 @@ bool smMeshRenderDelegate::isTargetTextured() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_mesh_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smMeshRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smMeshRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/PBDSurfaceRenderDelegate.cpp b/src/RenderDelegates/PBDSurfaceRenderDelegate.cpp
index fe4fc4e32aa5756effd75dea0af6b9ff8ab2ddb1..b2b86073f62ceaeccd47da8888b37f4050c86986 100644
--- a/src/RenderDelegates/PBDSurfaceRenderDelegate.cpp
+++ b/src/RenderDelegates/PBDSurfaceRenderDelegate.cpp
@@ -2,7 +2,7 @@
#include "Core/RenderDelegate.h"
#include "Simulators/PBDSceneObject.h"
-class smPBDSurfaceRenderDelegate : public smRenderDelegate
+class smPBDSurfaceRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -16,6 +16,6 @@ void smPBDSurfaceRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_pbd_surface_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smPBDSurfaceRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smPBDSurfaceRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/PlaneRenderDelegate.cpp b/src/RenderDelegates/PlaneRenderDelegate.cpp
index 2123a7375383e15f2cb19516a50aed5d435d61a3..3ea795ad1589117d2468ff494409c179269585f4 100644
--- a/src/RenderDelegates/PlaneRenderDelegate.cpp
+++ b/src/RenderDelegates/PlaneRenderDelegate.cpp
@@ -2,7 +2,7 @@
#include "Core/RenderDelegate.h"
#include "Core/Factory.h"
-class smPlaneRenderDelegate : public smRenderDelegate
+class smPlaneRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -10,16 +10,16 @@ public:
void smPlaneRenderDelegate::draw() const
{
- smGLRenderer::draw(*this->getSourceGeometryAs<smPlane>());
+ smGLRenderer::draw(*this->getSourceGeometryAs<Plane>());
// if (this->movedOrRotated)
// {
// updateDrawPoints();
// }
// glEnable(GL_LIGHTING);
//
-// glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, smColor::colorGray.toGLColor());
-// glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, smColor::colorWhite.toGLColor());
-// glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, smColor::colorGray.toGLColor());
+// glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Color::colorGray.toGLColor());
+// glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, Color::colorWhite.toGLColor());
+// glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, Color::colorGray.toGLColor());
//
// glEnable(GL_BLEND);
// glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@@ -41,6 +41,6 @@ void smPlaneRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_plane_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smPlaneRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smPlaneRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/SceneObjectDeformableRenderDelegate.cpp b/src/RenderDelegates/SceneObjectDeformableRenderDelegate.cpp
index ec466e4d55196e3b468a6b8394e2f8285bcd6f29..0c909ffd912246b1379e118c81e010b5563aea7e 100644
--- a/src/RenderDelegates/SceneObjectDeformableRenderDelegate.cpp
+++ b/src/RenderDelegates/SceneObjectDeformableRenderDelegate.cpp
@@ -4,7 +4,7 @@
/// \brief Displays the fem object with primary or secondary mesh, fixed vertices,
/// vertices interacted with, ground plane etc.
-class smSceneObjectDeformableRenderDelegate : public smRenderDelegate
+class smSceneObjectDeformableRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -28,6 +28,6 @@ void smSceneObjectDeformableRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_scene_object_deformable_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smSceneObjectDeformableRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smSceneObjectDeformableRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/StaticSceneObjectRenderDelegate.cpp b/src/RenderDelegates/StaticSceneObjectRenderDelegate.cpp
index e16c413c0f18a5d64104bf1c68e98f8ffdd1db9e..78ac3c645cd6e1840b5e981fce6746f04b72f45f 100644
--- a/src/RenderDelegates/StaticSceneObjectRenderDelegate.cpp
+++ b/src/RenderDelegates/StaticSceneObjectRenderDelegate.cpp
@@ -2,7 +2,7 @@
#include "Core/RenderDelegate.h"
#include "Core/Factory.h"
-class smStaticSceneObjectRenderDelegate : public smRenderDelegate
+class smStaticSceneObjectRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -10,7 +10,7 @@ public:
void smStaticSceneObjectRenderDelegate::draw() const
{
- smStaticSceneObject* geom = this->getSourceGeometryAs<smStaticSceneObject>();
+ StaticSceneObject* geom = this->getSourceGeometryAs<StaticSceneObject>();
if (!geom)
return;
@@ -19,6 +19,6 @@ void smStaticSceneObjectRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_static_scene_object_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smStaticSceneObjectRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smStaticSceneObjectRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/StylusRenderDelegate.cpp b/src/RenderDelegates/StylusRenderDelegate.cpp
index 849b963b07fe6521b26b80626c67f442b0d898c4..5ab106aa84f5174be80d946f0190be6d9690679c 100644
--- a/src/RenderDelegates/StylusRenderDelegate.cpp
+++ b/src/RenderDelegates/StylusRenderDelegate.cpp
@@ -4,7 +4,7 @@
#include "Rendering/GLUtils.h"
#include "Simulators/StylusObject.h"
-class smStylusRenderDelegate : public smRenderDelegate
+class smStylusRenderDelegate : public RenderDelegate
{
public:
virtual void initDraw() const override;
@@ -35,7 +35,7 @@ void smStylusRenderDelegate::initDraw() const
void smStylusRenderDelegate::draw() const
{
smStylusRigidSceneObject* geom = this->getSourceGeometryAs<smStylusRigidSceneObject>();
- smMatrix44d viewMatrix;
+ Matrix44d viewMatrix;
#pragma unroll
@@ -85,6 +85,6 @@ void smStylusRenderDelegate::draw() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_stylus_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smStylusRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,smStylusRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/RenderDelegates/SurfaceTreeRenderDelegate.cpp b/src/RenderDelegates/SurfaceTreeRenderDelegate.cpp
index 252feec2dd38aab724e113ad54fc89fdfdf9b598..4c9e2eba48974352e168d8a0b30288db80d1e60d 100644
--- a/src/RenderDelegates/SurfaceTreeRenderDelegate.cpp
+++ b/src/RenderDelegates/SurfaceTreeRenderDelegate.cpp
@@ -3,7 +3,7 @@
#include "Collision/MeshCollisionModel.h"
#include "Collision/SurfaceTree.h"
-class smSurfaceTreeRenderDelegate : public smRenderDelegate
+class SurfaceTreeRenderDelegate : public RenderDelegate
{
public:
virtual void draw() const override;
@@ -13,32 +13,32 @@ public:
};
/// \brief Draw the surface tree.
-void smSurfaceTreeRenderDelegate::draw() const
+void SurfaceTreeRenderDelegate::draw() const
{
- if (this->drawTree<smSurfaceTree<smMeshCollisionModel::AABBNodeType>>())
+ if (this->drawTree<SurfaceTree<MeshCollisionModel::AABBNodeType>>())
return;
- if (this->drawTree<smSurfaceTree<smOctreeCell>>())
+ if (this->drawTree<SurfaceTree<OctreeCell>>())
return;
}
template<typename T>
-bool smSurfaceTreeRenderDelegate::drawTree() const
+bool SurfaceTreeRenderDelegate::drawTree() const
{
T* geom = this->getSourceGeometryAs<T>();
if (!geom)
return false;
- smVec3d center;
+ core::Vec3d center;
double length;
- glColor3fv(smColor::colorGreen.toGLColor());
+ glColor3fv(Color::colorGreen.toGLColor());
glEnable(GL_LIGHTING);
glPushAttrib(GL_LIGHTING_BIT);
- glColor3fv(smColor::colorGreen.toGLColor());
- glColor3fv(smColor::colorBlue.toGLColor());
+ glColor3fv(Color::colorGreen.toGLColor());
+ glColor3fv(Color::colorBlue.toGLColor());
glPushMatrix();
- glColor3fv(smColor::colorPink.toGLColor());
+ glColor3fv(Color::colorPink.toGLColor());
geom->getRoot()->draw();
@@ -52,6 +52,6 @@ bool smSurfaceTreeRenderDelegate::drawTree() const
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_surface_tree_render_delegate)
- SIMMEDTK_REGISTER_CLASS(smRenderDelegate,smRenderDelegate,smSurfaceTreeRenderDelegate,2000);
+ SIMMEDTK_REGISTER_CLASS(RenderDelegate,RenderDelegate,SurfaceTreeRenderDelegate,2000);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/Rendering/Camera.cpp b/src/Rendering/Camera.cpp
index 80543fd6592271fe24d58b8c49b8ebba81e3a6cd..4644ae5a2a04e2e09f7a2d338968cce0a99ab718 100644
--- a/src/Rendering/Camera.cpp
+++ b/src/Rendering/Camera.cpp
@@ -21,14 +21,13 @@
// Contact:
//---------------------------------------------------------------------------
-#include "Core/Math.h"
#include "Core/Quaternion.h"
#include "Core/Vector.h"
#include "Camera.h"
smCamera::smCamera()
: ar(4.0 / 3.0),
- angle(SM_DEGREES2RADIANS(45.0)),
+ angle(M_PI_4),
nearClip(0.1),
farClip(100.0),
pos(0, 0, 0),
@@ -40,7 +39,7 @@ smCamera::smCamera()
orientDirty.store(false);
}
-smVec3f smCamera::getPos()
+core::Vec3f smCamera::getPos()
{
std::lock_guard<std::mutex> lock(posLock);
return this->pos;
@@ -48,10 +47,10 @@ smVec3f smCamera::getPos()
void smCamera::setPos(const float x, const float y, const float z)
{
- this->setPos(smVec3f(x, y, z));
+ this->setPos(core::Vec3f(x, y, z));
}
-void smCamera::setPos(const smVec3f& v)
+void smCamera::setPos(const core::Vec3f& v)
{
{//scoped for mutex release
std::lock_guard<std::mutex> lock(posLock);
@@ -61,7 +60,7 @@ void smCamera::setPos(const smVec3f& v)
this->orientDirty.store(true);
}
-smVec3f smCamera::getFocus()
+core::Vec3f smCamera::getFocus()
{
std::lock_guard<std::mutex> lock(fpLock);
return this->fp;
@@ -69,10 +68,10 @@ smVec3f smCamera::getFocus()
void smCamera::setFocus(const float x, const float y, const float z)
{
- this->setFocus(smVec3f(x, y, z));
+ this->setFocus(core::Vec3f(x, y, z));
}
-void smCamera::setFocus(const smVec3f& v)
+void smCamera::setFocus(const core::Vec3f& v)
{
{ //scoped for mutex release
std::lock_guard<std::mutex> lock(fpLock);
@@ -82,14 +81,14 @@ void smCamera::setFocus(const smVec3f& v)
this->orientDirty.store(true);
}
-smVec3f smCamera::getUpVec()
+core::Vec3f smCamera::getUpVec()
{
- return getOrientation() * smVec3f::UnitY();
+ return getOrientation() * core::Vec3f::UnitY();
}
-smVec3f smCamera::getDirection()
+core::Vec3f smCamera::getDirection()
{
- return -(getOrientation() * smVec3f::UnitZ());
+ return -(getOrientation() * core::Vec3f::UnitZ());
}
float smCamera::getAspectRatio()
@@ -116,12 +115,14 @@ void smCamera::setViewAngle(const float a)
float smCamera::getViewAngleDeg()
{
- return SM_RADIANS2DEGREES(getViewAngle());
+ // Return degrees
+ return 57.2957795130823*getViewAngle();
}
void smCamera::setViewAngleDeg(const float a)
{
- setViewAngle(SM_DEGREES2RADIANS(a));
+ // Use radians
+ setViewAngle(0.0174532925199433*a);
}
float smCamera::getNearClipDist()
@@ -146,7 +147,7 @@ void smCamera::setFarClipDist(const float d)
this->projDirty.store(true);
}
-void smCamera::setOrientation(const smQuaternionf q)
+void smCamera::setOrientation(const Quaternionf q)
{
{ //scoped for mutex release
std::lock_guard<std::mutex> lock(orientationLock);
@@ -155,22 +156,22 @@ void smCamera::setOrientation(const smQuaternionf q)
this->orientDirty.store(false);
}
-void smCamera::setOrientFromDir(const smVec3f d)
+void smCamera::setOrientFromDir(const core::Vec3f d)
{
- smMatrix33f camAxes;
- smVec3f tempUp;
+ Matrix33f camAxes;
+ core::Vec3f tempUp;
{ //scoped for mutex release
std::lock_guard<std::mutex> lock(orientationLock);
- tempUp = this->orientation * smVec3f::UnitY();
+ tempUp = this->orientation * core::Vec3f::UnitY();
}
camAxes.col(2) = (-d).normalized();
camAxes.col(0) = tempUp.cross( camAxes.col(2) ).normalized();
camAxes.col(1) = camAxes.col(2).cross( camAxes.col(0) ).normalized();
- setOrientation(smQuaternionf(camAxes));
+ setOrientation(Quaternionf(camAxes));
}
-smQuaternionf smCamera::getOrientation()
+Quaternionf smCamera::getOrientation()
{
if (true == this->orientDirty.load())
{
@@ -180,7 +181,7 @@ smQuaternionf smCamera::getOrientation()
return this->orientation;
}
-smMatrix44f smCamera::getViewMat()
+Matrix44f smCamera::getViewMat()
{
if (true == this->viewDirty.load())
{
@@ -190,7 +191,7 @@ smMatrix44f smCamera::getViewMat()
return this->view;
}
-void smCamera::setViewMat(const smMatrix44f &m)
+void smCamera::setViewMat(const Matrix44f &m)
{
{ //scoped for mutex release
std::lock_guard<std::mutex> lock(viewLock);
@@ -199,7 +200,7 @@ void smCamera::setViewMat(const smMatrix44f &m)
this->viewDirty.store(false);
}
-smMatrix44f smCamera::getProjMat()
+Matrix44f smCamera::getProjMat()
{
if (true == this->projDirty.load())
{
@@ -209,7 +210,7 @@ smMatrix44f smCamera::getProjMat()
return this->proj;
}
-void smCamera::setProjMat(const smMatrix44f &m)
+void smCamera::setProjMat(const Matrix44f &m)
{
{ //scoped for mutex release
std::lock_guard<std::mutex> lock(projLock);
@@ -218,7 +219,7 @@ void smCamera::setProjMat(const smMatrix44f &m)
this->projDirty.store(false);
}
-void smCamera::pan(smVec3f v)
+void smCamera::pan(core::Vec3f v)
{
v = getOrientation() * v;
setPos(getPos() + v);
@@ -234,20 +235,20 @@ void smCamera::zoom(const float d)
}
}
-void smCamera::rotateLocal(const float angle, const smVec3f axis)
+void smCamera::rotateLocal(const float angle, const core::Vec3f axis)
{
float dist = (getPos() - getFocus()).norm();
- smQuaternionf q;
+ Quaternionf q;
q = Eigen::AngleAxisf(angle, axis.normalized());
setOrientation(getOrientation() * q);
setFocus(getPos() + dist * getDirection());
}
-void smCamera::rotateFocus(const float angle, const smVec3f axis)
+void smCamera::rotateFocus(const float angle, const core::Vec3f axis)
{
float dist = (getFocus() - getPos()).norm();
- smQuaternionf q;
+ Quaternionf q;
q = Eigen::AngleAxisf(angle, axis.normalized());
setOrientation(getOrientation() * q);
@@ -256,47 +257,47 @@ void smCamera::rotateFocus(const float angle, const smVec3f axis)
void smCamera::rotateLocalX(const float angle)
{
- rotateLocal(angle, smVec3f::UnitX());
+ rotateLocal(angle, core::Vec3f::UnitX());
}
void smCamera::rotateLocalY(const float angle)
{
- rotateLocal(angle, smVec3f::UnitY());
+ rotateLocal(angle, core::Vec3f::UnitY());
}
void smCamera::rotateLocalZ(const float angle)
{
- rotateLocal(angle, smVec3f::UnitZ());
+ rotateLocal(angle, core::Vec3f::UnitZ());
}
void smCamera::rotateFocusX(const float angle)
{
- rotateFocus(angle, smVec3f::UnitX());
+ rotateFocus(angle, core::Vec3f::UnitX());
}
void smCamera::rotateFocusY(const float angle)
{
- rotateFocus(angle, smVec3f::UnitY());
+ rotateFocus(angle, core::Vec3f::UnitY());
}
void smCamera::rotateFocusZ(const float angle)
{
- rotateFocus(angle, smVec3f::UnitZ());
+ rotateFocus(angle, core::Vec3f::UnitZ());
}
// Implementation adapted from Sylvain Pointeau's Blog:
// http://spointeau.blogspot.com/2013/12/hello-i-am-looking-at-opengl-3.html
-smMatrix44f smCamera::lookAt(const smVec3f pos,
- const smVec3f fp,
- const smVec3f up)
+Matrix44f smCamera::lookAt(const core::Vec3f pos,
+ const core::Vec3f fp,
+ const core::Vec3f up)
{
- smVec3f f = (fp - pos).normalized();
- smVec3f u = up.normalized();
- smVec3f s = f.cross(u).normalized();
+ core::Vec3f f = (fp - pos).normalized();
+ core::Vec3f u = up.normalized();
+ core::Vec3f s = f.cross(u).normalized();
u = s.cross(f);
- smMatrix44f res;
+ Matrix44f res;
res << s.x(),s.y(),s.z(),-s.dot(pos),
u.x(),u.y(),u.z(),-u.dot(pos),
-f.x(),-f.y(),-f.z(),f.dot(pos),
@@ -312,14 +313,14 @@ void smCamera::genViewMat()
// Implementation adapted from Sylvain Pointeau's Blog:
// http://spointeau.blogspot.com/2013/12/hello-i-am-looking-at-opengl-3.html
-smMatrix44f smCamera::perspective(const float fovy, const float ar,
+Matrix44f smCamera::perspective(const float fovy, const float ar,
const float zNear, const float zFar)
{
assert(ar > 0);
assert(zFar > zNear);
double tanHalfFovy = tan(fovy / 2.0);
- smMatrix44f res = smMatrix44f::Zero();
+ Matrix44f res = Matrix44f::Zero();
res(0,0) = 1.0 / (ar * tanHalfFovy);
res(1,1) = 1.0 / (tanHalfFovy);
diff --git a/src/Rendering/Camera.h b/src/Rendering/Camera.h
index e8df5628821f7e5430db25f5a52f24f3933ee214..4557053be82b06b8d105ef396f4f5f1dad62c936 100644
--- a/src/Rendering/Camera.h
+++ b/src/Rendering/Camera.h
@@ -31,6 +31,7 @@
/// STL icludes
#include <memory>
#include <mutex>
+#include <atomic>
/// \brief A simple camera class to calculate view and projection matrices
///
@@ -53,12 +54,12 @@ public:
/// \brief Set the position of the camera
///
/// \param v 3 Dimensional vector describing the position of the camera
- void setPos(const smVec3f& v);
+ void setPos(const core::Vec3f& v);
/// \brief Get the position of the camera
///
/// \return 3 Dimensional vector containing the position of the camera
- smVec3f getPos();
+ core::Vec3f getPos();
/// \brief Set the focal point of the camera
///
@@ -70,22 +71,22 @@ public:
/// \brief Set the focal point of the camera
///
/// \param v 3 Dimensional vector describing the focal point of the camera
- void setFocus(const smVec3f& v);
+ void setFocus(const core::Vec3f& v);
/// \brief Get the focal point of the camera
///
/// \return 3 Dimensional vector containing the focal point of the camera
- smVec3f getFocus();
+ core::Vec3f getFocus();
/// \brief Get the up direction of the camera
///
/// \return 3 Dimensional vector containing the up direction of the camera
- smVec3f getUpVec();
+ core::Vec3f getUpVec();
/// \brief Get the direction the camera is facing
///
/// \return 3 Dimensional vector containing the direction of the camera
- smVec3f getDirection();
+ core::Vec3f getDirection();
//Projection settings
/// \brief Set the aspect ratio of the camera
@@ -146,12 +147,12 @@ public:
/// \brief Returns the internal view matrix for the camera
///
/// \return A 4 by 4 matrix containing the view matrix of the camera
- smMatrix44f getViewMat();
+ Matrix44f getViewMat();
/// \brief Returns the internal projection matrix for the camera
///
/// \return A 4 by 4 matrix containing the projection matrix of the camera
- smMatrix44f getProjMat();
+ Matrix44f getProjMat();
/// \brief Pan the camera view
///
@@ -159,7 +160,7 @@ public:
/// amount
///
/// \param v Vector describing how much to pan by in each direction
- void pan(const smVec3f v);
+ void pan(const core::Vec3f v);
/// \brief Zoom the camera
///
@@ -173,13 +174,13 @@ public:
///
/// \param angle The angle in radians to rotate
/// \param axis The axis to rotate about
- void rotateLocal(const float angle, const smVec3f axis);
+ void rotateLocal(const float angle, const core::Vec3f axis);
/// \brief Rotates about an arbitrary axis in focus point coordinates
///
/// \param angle The angle in radians to rotate
/// \param axis The axis to rotate about
- void rotateFocus(const float angle, const smVec3f axis);
+ void rotateFocus(const float angle, const core::Vec3f axis);
/// \brief Rotates about the camera's local X axis
///
@@ -237,9 +238,9 @@ public:
/// \param up Upward facing direction of the camera
///
/// \return A 4 by 4 matrix containing the view matrix
- smMatrix44f lookAt(const smVec3f pos,
- const smVec3f fp,
- const smVec3f up);
+ Matrix44f lookAt(const core::Vec3f pos,
+ const core::Vec3f fp,
+ const core::Vec3f up);
/// \brief Creates a perspective matrix for use with OpenGL
///
@@ -249,7 +250,7 @@ public:
/// \param zFar The far clipping distance
///
/// \return A 4 by 4 matrix containing the perspective matrix
- smMatrix44f perspective(const float fovy, const float ar,
+ Matrix44f perspective(const float fovy, const float ar,
const float zNear, const float zFar);
//Create matrices
@@ -288,13 +289,13 @@ public:
private:
//View matrix variables
- smVec3f pos; ///< position of the camera
+ core::Vec3f pos; ///< position of the camera
std::mutex posLock; //< Controls access to the pos variable
- smVec3f fp; ///< focal point of the camera
+ core::Vec3f fp; ///< focal point of the camera
std::mutex fpLock; //< Controls access to the fp variable
- smQuaternionf orientation; ///< orientation of the camera
+ Quaternionf orientation; ///< orientation of the camera
std::mutex orientationLock; //< Controls access to the orientation variable
- smMatrix44f view; ///< View matrix for OpenGL
+ Matrix44f view; ///< View matrix for OpenGL
std::mutex viewLock; //< Controls access to the view variable
std::atomic_bool viewDirty; ///< True if view variables have been updated
std::atomic_bool orientDirty; ///< True if orientation needs to be recalculated
@@ -304,7 +305,7 @@ private:
std::atomic<float> angle; ///< angle in radians
std::atomic<float> nearClip; ///< near clipping distance
std::atomic<float> farClip; ///< far clipping distance
- smMatrix44f proj; ///< Projection matrix for OpenGL
+ Matrix44f proj; ///< Projection matrix for OpenGL
std::mutex projLock; //< Controls access to the proj variable
std::atomic_bool projDirty; ///< True if projection variables have been updated
@@ -314,7 +315,7 @@ private:
/// updated also
///
/// \param m The new view matrix of the camera
- void setViewMat(const smMatrix44f &m);
+ void setViewMat(const Matrix44f &m);
/// \brief Replace the internal projection matrix of the camera
///
@@ -322,24 +323,24 @@ private:
/// updated also
///
/// \param m The new projection matrix of the camera
- void setProjMat(const smMatrix44f &m);
+ void setProjMat(const Matrix44f &m);
/// \brief Sets the orientation of the camera from a given direction
///
/// \detail Generally used to orient the camera toward the focal point
///
/// \param d Directional vector to orient the camera with
- void setOrientFromDir(const smVec3f d);
+ void setOrientFromDir(const core::Vec3f d);
/// \brief Replaces the internal quaternion with the one provided
///
/// \param q New internal orientation quaternion
- void setOrientation(const smQuaternionf q);
+ void setOrientation(const Quaternionf q);
/// \brief Returns the orientation of the camera
///
/// \return The orientation of the camera as a quaternion
- smQuaternionf getOrientation();
+ Quaternionf getOrientation();
};
#endif
diff --git a/src/Rendering/ConfigRendering.h b/src/Rendering/ConfigRendering.h
index 233707a5e0159ef9204eefcd9250fa81991960eb..c9110f4d3391e914a151413c10b60f908064880c 100644
--- a/src/Rendering/ConfigRendering.h
+++ b/src/Rendering/ConfigRendering.h
@@ -105,7 +105,7 @@ enum smVBOResult
struct smViewerDetail
{
unsigned int environment;
- smColor backGroundColor;
+ Color backGroundColor;
};
#endif // SMCONFIGRENDERING_H
diff --git a/src/Rendering/CustomRenderer.h b/src/Rendering/CustomRenderer.h
index 463c2c4c1d0dd706303fc2dad7661e8b9d8b7043..7e0e50f05174576eaadc93c29af41b947b1fea74 100644
--- a/src/Rendering/CustomRenderer.h
+++ b/src/Rendering/CustomRenderer.h
@@ -31,22 +31,22 @@
#include "Core/SceneObject.h"
//forward declaration
-class smSceneObject;
+class SceneObject;
/// \brief custom renderer for the object.
///you could draw with one custom renderer with multiple objects.
///This is the reason why the functions are taken objects.
-class smCustomRenderer: public smCoreClass
+class smCustomRenderer: public CoreClass
{
public:
/// \briefthis function should be implemented based on objects
//virtual void init();
/// \brief draw pre, default and post draw routines
- virtual void preDraw(const smSceneObject &p_object);
+ virtual void preDraw(const SceneObject &p_object);
virtual void draw();
- virtual void draw(const smSceneObject &p_object);
- virtual void postDraw(const smSceneObject &p_object);
+ virtual void draw(const SceneObject &p_object);
+ virtual void postDraw(const SceneObject &p_object);
};
/// \briefderive this class if you want to render a class in the viewer.
diff --git a/src/Rendering/FrameBuffer.cpp b/src/Rendering/FrameBuffer.cpp
index e8531e72ddbaba8f65e15ad8b3894070105959fe..3c3f3c57c5dc708d14f6d98b15dad70e484f8493 100644
--- a/src/Rendering/FrameBuffer.cpp
+++ b/src/Rendering/FrameBuffer.cpp
@@ -236,7 +236,7 @@ void smFrameBuffer::attachRenderBuffer( smRenderBuffer *p_renderBuf )
_fbo.AttachRenderBuffer( p_renderBuf->getRenderBufId(), p_renderBuf->getGLAttachmentId() );
}
}
-void smFrameBuffer::attachDepthTexture( smTexture *p_texture )
+void smFrameBuffer::attachDepthTexture( Texture *p_texture )
{
if ( p_texture == NULL )
{
@@ -246,7 +246,7 @@ void smFrameBuffer::attachDepthTexture( smTexture *p_texture )
_fbo.AttachTexture( p_texture->GLtype, p_texture->textureGLId, GL_DEPTH_ATTACHMENT_EXT );
isDepthTexAttached = true;
}
-void smFrameBuffer::attachColorTexture( smTexture *p_texture, int p_attachmentOrder )
+void smFrameBuffer::attachColorTexture( Texture *p_texture, int p_attachmentOrder )
{
defaultColorAttachment = p_attachmentOrder;
_fbo.AttachTexture( p_texture->GLtype, p_texture->textureGLId, GL_COLOR_ATTACHMENT0_EXT + p_attachmentOrder );
diff --git a/src/Rendering/FrameBuffer.h b/src/Rendering/FrameBuffer.h
index a27adbda947d7c1a4da56293513e289f76c6c665..d640fa2d9d16da4f91375699e3d3dc9c40193da6 100644
--- a/src/Rendering/FrameBuffer.h
+++ b/src/Rendering/FrameBuffer.h
@@ -51,7 +51,7 @@ enum smRenderBufferType
SIMMEDTK_RENDERBUFFER_COLOR_RGB = GL_RGB
};
/// \brief render buffer type used for frame buffer attachment
-class smRenderBuffer: public smCoreClass
+class smRenderBuffer: public CoreClass
{
protected:
/// \brief renderbuffer
@@ -95,7 +95,7 @@ public:
};
/// \brief GL frame buffer class
-class smFrameBuffer: public smCoreClass
+class smFrameBuffer: public CoreClass
{
public:
/// \brief GL frame buffer
@@ -131,9 +131,9 @@ public:
/// \brief attach render buffer to te frame buffer
void attachRenderBuffer(smRenderBuffer *p_renderBuf);
/// \brief attach depth texture
- void attachDepthTexture(smTexture *p_texture);
+ void attachDepthTexture(Texture *p_texture);
/// \brief attach a color texture
- void attachColorTexture(smTexture *p_texture, int p_attachmentOrder);
+ void attachColorTexture(Texture *p_texture, int p_attachmentOrder);
/// \brief activate color buffer in the specified order
void activeColorBuf(int p_order);
/// \brief enable the framebuffer
diff --git a/src/Rendering/GLRenderer.h b/src/Rendering/GLRenderer.h
index 7356eda4a3dafdf7e84664ffa127926429e03787..d10a49badabf1c011e0d5dd71e780ac2f180ecb0 100644
--- a/src/Rendering/GLRenderer.h
+++ b/src/Rendering/GLRenderer.h
@@ -34,55 +34,55 @@
#include "Core/Matrix.h"
class smMesh;
-class smAABB;
+class AABB;
class smLineMesh;
class smViewer;
-class smPlane;
-class smScene;
+class Plane;
+class Scene;
-struct smRenderDetail;
+struct RenderDetail;
/// \brief gl rendering utilities
-class smGLRenderer: public smCoreClass
+class smGLRenderer: public CoreClass
{
public:
/// \brief constructor
smGLRenderer();
/// \brief draws surface mesh with given rendertdail and draw paramters
- static void drawSurfaceMeshTriangles(std::shared_ptr<smMesh> p_surfaceMesh, std::shared_ptr<smRenderDetail> renderDetail);
+ static void drawSurfaceMeshTriangles(std::shared_ptr<smMesh> p_surfaceMesh, std::shared_ptr<RenderDetail> renderDetail);
/// \brief draw normals
- static void drawNormals(std::shared_ptr<smMesh> p_mesh, smColor p_color = smColor::colorBlue, float length=1.0);
+ static void drawNormals(std::shared_ptr<smMesh> p_mesh, Color p_color = Color::colorBlue, float length=1.0);
/// \brief draw line mesh
- static void drawLineMesh(std::shared_ptr<smLineMesh> p_lineMesh, std::shared_ptr<smRenderDetail> renderDetail);
+ static void drawLineMesh(std::shared_ptr<smLineMesh> p_lineMesh, std::shared_ptr<RenderDetail> renderDetail);
/// \brief draw coordinate system
- static void drawCoordSystem(std::shared_ptr<smViewer> viewer, std::string p_name, smVec3d p_pos, smVec3d dirX, smVec3d dirY, smVec3d dirZ);
+ static void drawCoordSystem(std::shared_ptr<smViewer> viewer, std::string p_name, core::Vec3d p_pos, core::Vec3d dirX, core::Vec3d dirY, core::Vec3d dirZ);
/// \brief begin rendering triangle
static void beginTriangles();
/// \brief draw triangle
- static void drawTriangle(smVec3d &p_1, smVec3d &p_2, smVec3d &p_3);
+ static void drawTriangle(core::Vec3d &p_1, core::Vec3d &p_2, core::Vec3d &p_3);
/// \brief end triangle rendering
static void endTriangles();
/// \brief draw AABB
- static void draw(smAABB &aabb, smColor p_color = smColor(1.0, 1.0, 1.0));
+ static void draw(AABB &aabb, Color p_color = Color(1.0, 1.0, 1.0));
/// \brief draw plane
- static void draw(smPlane &p_plane, float p_scale = 10.0, smColor p_color = smColor::colorYellow);
+ static void draw(Plane &p_plane, float p_scale = 10.0, Color p_color = Color::colorYellow);
/// \brief draw axes given rotation matrix, position and length to draw
- static void drawAxes(const smMatrix33f &rotMat, const smVec3f &pos, const float length);
+ static void drawAxes(const Matrix33f &rotMat, const core::Vec3f &pos, const float length);
/// \brief draw global axes length to draw
static void drawAxes(const float length);
/// \brief draw arrow given starting position, ending poistion and width of the arrow head
- static void drawArrow(const smVec3f &start, const smVec3f &end, const float D);
+ static void drawArrow(const core::Vec3f &start, const core::Vec3f &end, const float D);
/// \brief draw function is called for visualization the object
virtual void draw(){}
@@ -90,28 +90,28 @@ public:
/// \brief switch to default rendering
static void enableDefaultGLRendering();
- /// \brief Renders an smScene's objects
+ /// \brief Renders an Scene's objects
///
/// \detail Requires the caller to have called registerForScene() on p_scene
/// \param p_scene The scene to render
/// \param p_param The drawing parameters
- static void renderScene(std::shared_ptr<smScene> p_scene);
- /// \brief Renders a smScene's objects
+ static void renderScene(std::shared_ptr<Scene> p_scene);
+ /// \brief Renders a Scene's objects
///
/// \detail Requires the caller to have called registerForScene() on p_scene
/// \param p_scene The scene to render
/// \param p_param The drawing parameters
/// \param p_proj A custom projection matrix to use instead of that provided with the scene
/// \param p_view A custom view matrix to use instead of that provided with the scene
- static void renderScene(std::shared_ptr<smScene> p_scene,
- const smMatrix44f &p_proj,
- const smMatrix44f &p_view);
+ static void renderScene(std::shared_ptr<Scene> p_scene,
+ const Matrix44f &p_proj,
+ const Matrix44f &p_view);
- /// \brief Renders a single smSceneObject
+ /// \brief Renders a single SceneObject
///
/// \param p_sceneObject The scene object to render
/// \param p_param The drawing parameters
- static void renderSceneObject(std::shared_ptr<smSceneObject> p_sceneObject);
+ static void renderSceneObject(std::shared_ptr<SceneObject> p_sceneObject);
};
#endif
diff --git a/src/Rendering/GLUtils.cpp b/src/Rendering/GLUtils.cpp
index 1c5a30b168911f2d04e882a2b8af6e5666592331..c98b70962a5b946baaabb12a0771165ee6c1ba13 100644
--- a/src/Rendering/GLUtils.cpp
+++ b/src/Rendering/GLUtils.cpp
@@ -91,7 +91,7 @@ void smGLUtils::fadeBackgroundDraw()
glPopAttrib();
}
-void smGLUtils::drawQuadOnScreen(smColor p_color, float p_left,
+void smGLUtils::drawQuadOnScreen(Color p_color, float p_left,
float p_bottom, float p_right,
float p_top)
{
@@ -139,11 +139,11 @@ void smGLUtils::drawUnitQuadOnScreen()
glVertex3d(-1, 1.0, -1);
glEnd();
}
-void smGLUtils::queryProjectionMatrix(smMatrix44f& p_matrix)
+void smGLUtils::queryProjectionMatrix(Matrix44f& p_matrix)
{
glGetFloatv(GL_PROJECTION_MATRIX, p_matrix.data());
}
-void smGLUtils::queryModelViewMatrix(smMatrix44f& p_matrix)
+void smGLUtils::queryModelViewMatrix(Matrix44f& p_matrix)
{
glGetFloatv(GL_MODELVIEW_MATRIX, p_matrix.data());
}
diff --git a/src/Rendering/GLUtils.h b/src/Rendering/GLUtils.h
index 58be11bdc8a75602ec1c5f7c3ac70fc0afe74113..9c618a6d8467ec485fe6cb7510bfcf6e33b67142 100644
--- a/src/Rendering/GLUtils.h
+++ b/src/Rendering/GLUtils.h
@@ -34,7 +34,7 @@
struct smGroundRenderInfo;
/// \brief opengl rendering utilities are here.
-class smGLUtils : public smCoreClass
+class smGLUtils : public CoreClass
{
public:
// OpenGL 3.0 adds the concept of indexed strings and
@@ -64,7 +64,7 @@ public:
static void fadeBackgroundDraw();
/// \brief draw quad on screen with color and left, botton, right, top positions
- static void drawQuadOnScreen(smColor p_color,
+ static void drawQuadOnScreen(Color p_color,
float p_left,
float p_bottom,
float p_right,
@@ -73,9 +73,9 @@ public:
/// \brief draw unit quad
static void drawUnitQuadOnScreen();
- static void queryProjectionMatrix(smMatrix44f &p_matrix);
+ static void queryProjectionMatrix(Matrix44f &p_matrix);
/// \brief to query current model view matrix. p_matrix will have the final values.
- static void queryModelViewMatrix(smMatrix44f &p_matrix);
+ static void queryModelViewMatrix(Matrix44f &p_matrix);
private:
std::vector<std::string> openGLExtensions;
diff --git a/src/Rendering/MetalShader.cpp b/src/Rendering/MetalShader.cpp
index ee3df1d15d0e63b9e67928ab17e8099558907189..b72f52f7ce1f5e17f0b3a972d989f5380af495cb 100644
--- a/src/Rendering/MetalShader.cpp
+++ b/src/Rendering/MetalShader.cpp
@@ -29,9 +29,9 @@
smMetalShader::smMetalShader( const std::string &p_verteShaderFileName,
const std::string &p_fragmentFileName ) :
- smShader(smSDK::getInstance()->getErrorLog())
+ smShader(SDK::getInstance()->getErrorLog())
{
- this->log = smSDK::getInstance()->getErrorLog();
+ this->log = SDK::getInstance()->getErrorLog();
this->log->isOutputtoConsoleEnabled = false;
this->checkErrorEnabled = true;
setShaderFileName( p_verteShaderFileName, NULL, p_fragmentFileName );
@@ -110,7 +110,7 @@ void smMetalShader::predraw(std::shared_ptr<smMesh> mesh )
}
}
-void smMetalShader::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event)
+void smMetalShader::handleEvent(std::shared_ptr<mstk::Event::Event> p_event)
{
auto keyboardEvent = std::static_pointer_cast<mstk::Event::smKeyboardEvent>(p_event);
if(keyboardEvent)
diff --git a/src/Rendering/MetalShader.h b/src/Rendering/MetalShader.h
index d19e3af101023c631a7da31f64968fe63db6b31e..d3f653f2b160364c684902e6c66e5b605c2598d5 100644
--- a/src/Rendering/MetalShader.h
+++ b/src/Rendering/MetalShader.h
@@ -30,7 +30,7 @@
namespace mstk{
namespace Event{
- class smEvent;
+ class Event;
}
}
@@ -61,7 +61,7 @@ public:
virtual void predraw(std::shared_ptr<smSurfaceMesh> mesh) override;
/// \brief handle keyboard event
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief any disable and enable shader options need to be here
virtual void switchEnable();
diff --git a/src/Rendering/OculusViewer.cpp b/src/Rendering/OculusViewer.cpp
index e12e890a16db7eb0f0064a23f304004150a6a6f4..5196f82eaa66911d3c761c2bed982cf7bebfa7c8 100644
--- a/src/Rendering/OculusViewer.cpp
+++ b/src/Rendering/OculusViewer.cpp
@@ -122,7 +122,7 @@ void smOculusViewer::endFrame()
// Oculus doesn't like it when you swap buffers
}
-void smOculusViewer::renderToScreen(const smRenderOperation &p_rop)
+void smOculusViewer::renderToScreen(const RenderOperation &p_rop)
{
int i;
ovrMatrix4f ovrProj;
@@ -140,8 +140,8 @@ void smOculusViewer::renderToScreen(const smRenderOperation &p_rop)
//for each eye ...
for (i = 0; i < 2; i++) {
ovrEyeType eye = hmd->EyeRenderOrder[i];
- smMatrix44f proj;
- smMatrix44f view;
+ Matrix44f proj;
+ Matrix44f view;
Eigen::Affine3f viewRotation;
Eigen::Affine3f headTracking;
Eigen::Affine3f playerHeight;
@@ -162,7 +162,7 @@ void smOculusViewer::renderToScreen(const smRenderOperation &p_rop)
// OpenGL expects, so we have to transpose them.
ovrProj = ovrMatrix4f_Projection(hmd->DefaultEyeFov[eye], 0.1, 500.0, 1);
//copy the ovr matrix into a matrix and transpose it
- proj = Eigen::Map<smMatrix44f>(&(ovrProj.M[0][0]));
+ proj = Eigen::Map<Matrix44f>(&(ovrProj.M[0][0]));
proj.transposeInPlace();
// -- view/camera transformation --
@@ -173,7 +173,7 @@ void smOculusViewer::renderToScreen(const smRenderOperation &p_rop)
//retrieve the orientation quaternion and
// convert it to a rotation matrix
- viewRotation = smQuaternionf(-pose[eye].Orientation.w,
+ viewRotation = Quaternionf(-pose[eye].Orientation.w,
pose[eye].Orientation.x,
pose[eye].Orientation.y,
pose[eye].Orientation.z);
@@ -192,7 +192,7 @@ void smOculusViewer::renderToScreen(const smRenderOperation &p_rop)
playerHeight = (Eigen::Translation3f(
0, -ovrHmd_GetFloat(hmd, OVR_KEY_EYE_HEIGHT, 1.65), 0));
- smMatrix44f trans = (viewRotation * headTracking * playerHeight).matrix();
+ Matrix44f trans = (viewRotation * headTracking * playerHeight).matrix();
view = trans * view;
//Render Scene
diff --git a/src/Rendering/OculusViewer.h b/src/Rendering/OculusViewer.h
index b770fb6f7ce9d6be11327a4f4dceefed863e5bec..72be54d5dc43ffb4df3a836659cb86779f2398f1 100644
--- a/src/Rendering/OculusViewer.h
+++ b/src/Rendering/OculusViewer.h
@@ -42,7 +42,7 @@ public:
protected:
virtual void beginFrame() override;
virtual void endFrame() override;
- virtual void renderToScreen(const smRenderOperation &p_rop) override;
+ virtual void renderToScreen(const RenderOperation &p_rop) override;
private:
ovrHmd hmd;
ovrSizei eyeRes[2];
diff --git a/src/Rendering/Renderer.cpp b/src/Rendering/Renderer.cpp
index d36be30a92d885c0cc526839e53413512cb5f1ae..ac0ed8fc251e853b7eb8597d6287fb63e6601f1a 100644
--- a/src/Rendering/Renderer.cpp
+++ b/src/Rendering/Renderer.cpp
@@ -38,12 +38,12 @@ smGLRenderer::smGLRenderer()
}
#if 0
-void smGLRenderer::drawLineMesh(std::shared_ptr<smLineMesh> p_lineMesh, std::shared_ptr<smRenderDetail> renderDetail)
+void smGLRenderer::drawLineMesh(std::shared_ptr<smLineMesh> p_lineMesh, std::shared_ptr<RenderDetail> renderDetail)
{
- static smVec3d origin(0, 0, 0);
- static smVec3d xAxis(1, 0, 0);
- static smVec3d yAxis(0, 1, 0);
- static smVec3d zAxis(0, 0, 1);
+ static core::Vec3d origin(0, 0, 0);
+ static core::Vec3d xAxis(1, 0, 0);
+ static core::Vec3d yAxis(0, 1, 0);
+ static core::Vec3d zAxis(0, 0, 1);
const int renderType = renderDetail->getRenderType();
@@ -175,7 +175,7 @@ void smGLRenderer::drawLineMesh(std::shared_ptr<smLineMesh> p_lineMesh, std::sha
void smGLRenderer::drawSurfaceMeshTriangles(
std::shared_ptr<smMesh> p_surfaceMesh,
- std::shared_ptr<smRenderDetail> renderDetail)
+ std::shared_ptr<RenderDetail> renderDetail)
{
if (p_surfaceMesh->getRenderDetail()->getRenderType() & SIMMEDTK_RENDER_NONE)
{
@@ -301,13 +301,13 @@ void smGLRenderer::drawSurfaceMeshTriangles(
glLineWidth(1.0);
}
-void smGLRenderer::drawNormals(std::shared_ptr<smMesh> p_mesh, smColor p_color, float length)
+void smGLRenderer::drawNormals(std::shared_ptr<smMesh> p_mesh, Color p_color, float length)
{
glDisable(GL_LIGHTING);
glColor3fv(reinterpret_cast<GLfloat*>(&p_color));
- smVec3d baryCenter;
- smVec3d tmp;
+ core::Vec3d baryCenter;
+ core::Vec3d tmp;
glBegin(GL_LINES);
@@ -338,7 +338,7 @@ void smGLRenderer::beginTriangles()
glBegin(GL_TRIANGLES);
}
-void smGLRenderer::drawTriangle(smVec3d &p_1, smVec3d &p_2, smVec3d &p_3)
+void smGLRenderer::drawTriangle(core::Vec3d &p_1, core::Vec3d &p_2, core::Vec3d &p_3)
{
glVertex3dv(p_1.data());
@@ -352,7 +352,7 @@ void smGLRenderer::endTriangles()
glEnd();
}
-void smGLRenderer::draw(smAABB &aabb, smColor p_color)
+void smGLRenderer::draw(AABB &aabb, Color p_color)
{
glPushAttrib(GL_LIGHTING_BIT);
@@ -404,7 +404,7 @@ void smGLRenderer::draw(smAABB &aabb, smColor p_color)
glPopAttrib();
}
-void smGLRenderer::drawArrow(const smVec3f &start, const smVec3f &end, const float D)
+void smGLRenderer::drawArrow(const core::Vec3f &start, const core::Vec3f &end, const float D)
{
float x = end[0] - start[0];
float y = end[1] - start[1];
@@ -465,17 +465,17 @@ void smGLRenderer::drawAxes(const float length)
Eigen::Vector3f origin(0, 0, 0);
- glColor3fv(smColor::colorRed.toGLColor());
+ glColor3fv(Color::colorRed.toGLColor());
glPushMatrix();
drawArrow(origin, Eigen::Vector3f(length, 0, 0), headWidth);
glPopMatrix();
- glColor3fv(smColor::colorGreen.toGLColor());
+ glColor3fv(Color::colorGreen.toGLColor());
glPushMatrix();
drawArrow(origin, Eigen::Vector3f(0, length, 0), headWidth);
glPopMatrix();
- glColor3fv(smColor::colorBlue.toGLColor());
+ glColor3fv(Color::colorBlue.toGLColor());
glPushMatrix();
drawArrow(origin, Eigen::Vector3f(0, 0, length), headWidth);
glPopMatrix();
@@ -483,27 +483,27 @@ void smGLRenderer::drawAxes(const float length)
glEnable(GL_LIGHTING);
}
-void smGLRenderer::drawAxes(const smMatrix33f &rotMat, const smVec3f &pos, const float length)
+void smGLRenderer::drawAxes(const Matrix33f &rotMat, const core::Vec3f &pos, const float length)
{
glDisable(GL_LIGHTING);
GLfloat headWidth = length / 12;
- glColor3fv(smColor::colorRed.toGLColor());
+ glColor3fv(Color::colorRed.toGLColor());
glPushMatrix();
Eigen::Vector3f xVec(length, 0, 0);
xVec = rotMat*xVec + pos;
drawArrow(pos, xVec, headWidth);
glPopMatrix();
- glColor3fv(smColor::colorGreen.toGLColor());
+ glColor3fv(Color::colorGreen.toGLColor());
glPushMatrix();
Eigen::Vector3f yVec(0, length, 0);
yVec = rotMat*yVec + pos;
drawArrow(pos, yVec, headWidth);
glPopMatrix();
- glColor3fv(smColor::colorBlue.toGLColor());
+ glColor3fv(Color::colorBlue.toGLColor());
glPushMatrix();
Eigen::Vector3f zVec(0, 0, length);
zVec = rotMat*zVec + pos;
@@ -513,26 +513,26 @@ void smGLRenderer::drawAxes(const smMatrix33f &rotMat, const smVec3f &pos, const
glEnable(GL_LIGHTING);
}
-void smGLRenderer::draw(smPlane &p_plane, float p_scale, smColor p_color)
+void smGLRenderer::draw(Plane &p_plane, float p_scale, Color p_color)
{
double angle;
- smVec3d axisOfRot;
- smVec3d defaultDir(0, 0, 1);
- smVec3d planePoints[4] = {smVec3d(-p_scale, p_scale, 0),
- smVec3d(-p_scale, -p_scale, 0),
- smVec3d(p_scale, -p_scale, 0),
- smVec3d(p_scale, p_scale, 0)
+ core::Vec3d axisOfRot;
+ core::Vec3d defaultDir(0, 0, 1);
+ core::Vec3d planePoints[4] = {core::Vec3d(-p_scale, p_scale, 0),
+ core::Vec3d(-p_scale, -p_scale, 0),
+ core::Vec3d(p_scale, -p_scale, 0),
+ core::Vec3d(p_scale, p_scale, 0)
};
- smVec3d tmp;
+ core::Vec3d tmp;
- smVec3d normal = p_plane.getUnitNormal();
- smVec3d point = p_plane.getPoint();
+ core::Vec3d normal = p_plane.getUnitNormal();
+ core::Vec3d point = p_plane.getPoint();
angle = std::acos(defaultDir.dot(normal));
axisOfRot = normal.cross(defaultDir);
axisOfRot.normalized();
- smQuaterniond rot = getRotationQuaternion(-angle,axisOfRot);
+ Quaterniond rot = getRotationQuaternion(-angle,axisOfRot);
glDisable(GL_LIGHTING);
glBegin(GL_QUADS);
@@ -549,21 +549,21 @@ void smGLRenderer::draw(smPlane &p_plane, float p_scale, smColor p_color)
glEnable(GL_LIGHTING);
}
-void smGLRenderer::renderScene(std::shared_ptr<smScene> p_scene)
+void smGLRenderer::renderScene(std::shared_ptr<Scene> p_scene)
{
assert(p_scene);
- smMatrix44f proj = p_scene->getCamera()->getProjMat();
- smMatrix44f view = p_scene->getCamera()->getViewMat();
+ Matrix44f proj = p_scene->getCamera()->getProjMat();
+ Matrix44f view = p_scene->getCamera()->getViewMat();
renderScene(p_scene, proj, view);
}
-void smGLRenderer::renderScene(std::shared_ptr<smScene> p_scene,
- const smMatrix44f &p_proj,
- const smMatrix44f &p_view)
+void smGLRenderer::renderScene(std::shared_ptr<Scene> p_scene,
+ const Matrix44f &p_proj,
+ const Matrix44f &p_view)
{
- smSceneLocal sceneLocal;
+ SceneLocal sceneLocal;
assert(p_scene);
@@ -595,16 +595,16 @@ void smGLRenderer::renderScene(std::shared_ptr<smScene> p_scene,
glPopMatrix();
}
-void smGLRenderer::renderSceneObject(std::shared_ptr<smSceneObject> p_sceneObject)
+void smGLRenderer::renderSceneObject(std::shared_ptr<SceneObject> p_sceneObject)
{
- smRenderDetail::Ptr detail = p_sceneObject->getRenderDetail();
+ RenderDetail::Ptr detail = p_sceneObject->getRenderDetail();
if (!detail || detail->getRenderType() & SIMMEDTK_RENDER_NONE)
{
return;
}
//if the custom rendering enable only render this
- smRenderDelegate::Ptr delegate = p_sceneObject->getRenderDelegate();
+ RenderDelegate::Ptr delegate = p_sceneObject->getRenderDelegate();
std::shared_ptr<smCustomRenderer> renderer = p_sceneObject->getRenderer();
if (detail->getRenderType() & SIMMEDTK_RENDER_CUSTOMRENDERONLY)
{
diff --git a/src/Rendering/SceneTextureShader.cpp b/src/Rendering/SceneTextureShader.cpp
index a272a4f596dc6bff69097c2ab267a97b51d18388..6e2e916bd168a1d063be78523e149f197e459587 100644
--- a/src/Rendering/SceneTextureShader.cpp
+++ b/src/Rendering/SceneTextureShader.cpp
@@ -26,9 +26,9 @@
#include "Core/SDK.h"
smSceneTextureShader::smSceneTextureShader(const std::string &p_verteShaderFileName, const std::string &p_fragmentFileName)
-: smShader(smSDK::getInstance()->getErrorLog())
+: smShader(SDK::getInstance()->getErrorLog())
{
- this->log = smSDK::getInstance()->getErrorLog();
+ this->log = SDK::getInstance()->getErrorLog();
this->log->isOutputtoConsoleEnabled = false;
this->checkErrorEnabled = true;
setShaderFileName(p_verteShaderFileName, "", p_fragmentFileName);
@@ -45,7 +45,7 @@ void smSceneTextureShader::predraw(std::shared_ptr<smMesh>/*p_mesh*/)
}
-void smSceneTextureShader::handleEvent(std::shared_ptr<mstk::Event::smEvent> /*p_event*/)
+void smSceneTextureShader::handleEvent(std::shared_ptr<mstk::Event::Event> /*p_event*/)
{
}
diff --git a/src/Rendering/SceneTextureShader.h b/src/Rendering/SceneTextureShader.h
index 353781bc5a50aa1a34f051342e6a149d32f9786c..2d3827aba57b828d580a3173b7bcb275e7611b5a 100644
--- a/src/Rendering/SceneTextureShader.h
+++ b/src/Rendering/SceneTextureShader.h
@@ -30,7 +30,7 @@
namespace mstk{
namespace Event{
- class smEvent;
+ class Event;
}
}
@@ -54,7 +54,7 @@ public:
virtual void predraw(std::shared_ptr<smSurfaceMesh>) override{};
/// \brief handle the events
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
public:
/// \brief depth texture GL id that is sent to shader. It stores scene depth values
diff --git a/src/Rendering/Shader.cpp b/src/Rendering/Shader.cpp
index 981c4f844434ea994af70a9d6fe5d2a5e9c9945d..2cb5b3d93753e0be1d8fd5407a34a92806fd2a6a 100644
--- a/src/Rendering/Shader.cpp
+++ b/src/Rendering/Shader.cpp
@@ -51,7 +51,7 @@ void printInfoLog(GLhandleARB obj)
}
}
-smShader::smShader(std::shared_ptr<smErrorLog> logger)
+smShader::smShader(std::shared_ptr<ErrorLog> logger)
{
type = core::ClassType::Shader;
log = logger;
@@ -628,7 +628,7 @@ void smShader::enableCheckingErrors(bool p_checkError)
this->checkErrorEnabled = p_checkError;
}
-void smShader::attachTexture(std::shared_ptr<smUnifiedId> p_meshID, int p_textureID)
+void smShader::attachTexture(std::shared_ptr<UnifiedId> p_meshID, int p_textureID)
{
smTextureShaderAssignment assign;
@@ -636,7 +636,7 @@ void smShader::attachTexture(std::shared_ptr<smUnifiedId> p_meshID, int p_textur
texAssignments.insert( {p_meshID->getId(), assign} );
}
-bool smShader::attachTexture(std::shared_ptr<smUnifiedId> p_meshID,
+bool smShader::attachTexture(std::shared_ptr<UnifiedId> p_meshID,
const std::string& p_textureName,
const std::string& p_textureShaderName)
{
@@ -796,7 +796,7 @@ void smShader::initGLShaders()
x.second->initDraw();
}
-void smShader::activeGLTextures(std::shared_ptr<smUnifiedId> p_id)
+void smShader::activeGLTextures(std::shared_ptr<UnifiedId> p_id)
{
int counter = 0;
auto range = texAssignments.equal_range(p_id->getId());
@@ -809,7 +809,7 @@ void smShader::activeGLTextures(std::shared_ptr<smUnifiedId> p_id)
}
}
-void smShader::activeGLVertAttribs(int p_id, smVec3d *p_vecs, int /*p_size*/)
+void smShader::activeGLVertAttribs(int p_id, core::Vec3d *p_vecs, int /*p_size*/)
{
glVertexAttribPointer(attribShaderParams[p_id], 3, GL_FLOAT, GL_FALSE, 0, p_vecs);
}
@@ -855,7 +855,7 @@ bool smShader::setProjectionMatrixShaderName(const std::string& p_projectionName
}
void smShader::updateGLSLMatwithOPENGL()
{
- smMatrix44f proj, model;
+ Matrix44f proj, model;
smGLUtils::queryModelViewMatrix( model );
smGLUtils::queryProjectionMatrix( proj );
@@ -867,7 +867,7 @@ GLint smShader::queryUniformLocation(const std::string& p_param)
{
return glGetUniformLocation(shaderProgramObject, p_param.data());
}
-std::shared_ptr<smShader> smShader::getShader( std::shared_ptr<smUnifiedId> p_shaderID )
+std::shared_ptr<smShader> smShader::getShader( std::shared_ptr<UnifiedId> p_shaderID )
{
return shaders[p_shaderID->getId()];
}
diff --git a/src/Rendering/Shader.h b/src/Rendering/Shader.h
index ab932400baea941ddc2f83ac098fa35de08ca136..d923d3aaf89949217b874ba49c5b349b5db69f90 100644
--- a/src/Rendering/Shader.h
+++ b/src/Rendering/Shader.h
@@ -51,7 +51,7 @@ struct smTextureShaderAssignment
// \brief Base shader class. It provides loading, initializing, binding,
// enabling disabling current shader functionality.Also it provides
// frequent check of the shader code to make shader development easy.
-class smShader: public smCoreClass
+class smShader: public CoreClass
{
public:
#ifdef SIMMEDTK_OPENGL_SHADER
@@ -117,10 +117,10 @@ public:
}
// \brief Attaches The texture ID to the mesh
- void attachTexture(std::shared_ptr<smUnifiedId> p_meshID, int p_textureID);
+ void attachTexture(std::shared_ptr<UnifiedId> p_meshID, int p_textureID);
// \brief assigns the texture by name if you don't know the textureID
- bool attachTexture(std::shared_ptr<smUnifiedId> p_meshID, const std::string& p_textureName, const std::string& p_textureShaderName);
+ bool attachTexture(std::shared_ptr<UnifiedId> p_meshID, const std::string& p_textureName, const std::string& p_textureShaderName);
void autoGetTextureIds();
@@ -160,7 +160,7 @@ protected:
public:
// \brief constructor gets the error log class
- smShader(std::shared_ptr<smErrorLog> logger);
+ smShader(std::shared_ptr<ErrorLog> logger);
// \brief initialized the shaders.
// \param vertexProgFileName vertex program file name
@@ -242,15 +242,15 @@ public:
virtual void posdraw(std::shared_ptr<smSurfaceMesh>/*mesh*/){};
- static std::shared_ptr<smShader> getShader(std::shared_ptr<smUnifiedId> p_shaderID);
+ static std::shared_ptr<smShader> getShader(std::shared_ptr<UnifiedId> p_shaderID);
bool readShaderContent(const std::string& p_file, std::string& p_content);
static void initGLShaders();
- void activeGLTextures(std::shared_ptr<smUnifiedId> p_id);
+ void activeGLTextures(std::shared_ptr<UnifiedId> p_id);
- void activeGLVertAttribs(int p_id, smVec3d *p_vecs, int p_size);
+ void activeGLVertAttribs(int p_id, core::Vec3d *p_vecs, int p_size);
void registerShader();
@@ -268,7 +268,7 @@ public:
}
protected:
- std::shared_ptr<smErrorLog> log; //
+ std::shared_ptr<ErrorLog> log; //
bool checkErrorEnabled; // if the error check is enabled or not. If it is checked, opengl errors are queried and if there is, they will be stored in logger
GLint tangentAttrib;
@@ -280,7 +280,7 @@ private:
std::vector<std::string> fragmentShaderParamsString; // stores the parameters for fragment shader
std::vector<std::string> geometryShaderParamsString; // stores the parameters for geometry shader
std::vector<std::string> attribParamsString; // stores the attribute parameters
- smTimer time; // time for periodically checnking the shader
+ Timer time; // time for periodically checnking the shader
GLint projectionMatrix; // holds the unitform location for projection matrix. That is needed in newer versions of GLSL
GLint modelViewMatrix; // holds the unitform location for modelview matrix. That is needed in newer versions of GLSL
diff --git a/src/Rendering/TextureManager.cpp b/src/Rendering/TextureManager.cpp
index ead14adca58c0e4c7019a9bc8c3d622c95eaa402..e37d95d03197eaf944a37fc08a8a36346516cacd 100644
--- a/src/Rendering/TextureManager.cpp
+++ b/src/Rendering/TextureManager.cpp
@@ -26,8 +26,8 @@
#include <cassert>
-std::shared_ptr<smErrorLog> smTextureManager:: errorLog;
-std::vector<smTexture*> smTextureManager:: textures;
+std::shared_ptr<ErrorLog> smTextureManager:: errorLog;
+std::vector<Texture*> smTextureManager:: textures;
std::unordered_map<std::string, int> smTextureManager::textureIndexId;
int smTextureManager:: activeTextures;
bool smTextureManager::isInitialized = false;
@@ -38,7 +38,7 @@ bool smTextureManager::isDeleteImagesEnabled = false;
smTextureReturnType smTextureManager::initGLTextures()
{
std::string texManagerError;
- smTexture *texture;
+ Texture *texture;
for (size_t i = 0; i < textures.size(); i++)
{
@@ -108,7 +108,7 @@ smTextureReturnType smTextureManager::loadTexture(const std::string& p_fileName,
/// \brief
smTextureReturnType smTextureManager::loadTexture(const std::string& p_fileName, const std::string& p_textureReferenceName, bool p_flipImage)
{
- smTexture *texture = nullptr;
+ Texture *texture = nullptr;
sf::Vector2u imageSize;
assert(p_fileName != "");
@@ -119,7 +119,7 @@ smTextureReturnType smTextureManager::loadTexture(const std::string& p_fileName,
return SIMMEDTK_TEXTURE_DRIVERNOTINITIALIZED;
}
- texture = new smTexture();
+ texture = new Texture();
assert(texture);
if (false == texture->image.loadFromFile(p_fileName))
{
@@ -166,7 +166,7 @@ GLuint smTextureManager::activateTexture(const std::string& p_textureReferenceNa
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
@@ -175,8 +175,8 @@ GLuint smTextureManager::activateTexture(const std::string& p_textureReferenceNa
return texture->textureGLId;
}
-/// \brief activate the texture given the smTexture argument
-GLuint smTextureManager::activateTexture(smTexture *p_texture)
+/// \brief activate the texture given the Texture argument
+GLuint smTextureManager::activateTexture(Texture *p_texture)
{
glBindTexture(GL_TEXTURE_2D, p_texture->textureGLId);
@@ -190,7 +190,7 @@ GLuint smTextureManager::activateTexture(const std::string& p_textureReferenceNa
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
glActiveTexture(GL_TEXTURE0 + p_textureGLOrder);
@@ -208,7 +208,7 @@ GLuint smTextureManager::activateTexture(const std::string& p_textureReferenceNa
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
glActiveTexture(GL_TEXTURE0 + p_textureGLOrder);
@@ -218,10 +218,10 @@ GLuint smTextureManager::activateTexture(const std::string& p_textureReferenceNa
return texture->textureGLId;
}
-/// \brief This function binds the smTexture to the appropriate shader texture.
+/// \brief This function binds the Texture to the appropriate shader texture.
/// For instance if the argument is 0, the it will bind to GL_TEXTURE0
/// Also for the shader the binded name will be p_shaderBindName
-GLuint smTextureManager::activateTexture(smTexture *p_texture,
+GLuint smTextureManager::activateTexture(Texture *p_texture,
int p_textureGLOrder, int p_shaderBindGLId)
{
@@ -236,7 +236,7 @@ GLuint smTextureManager::activateTexture(smTexture *p_texture,
GLuint smTextureManager::activateTexture(int p_textureId)
{
- smTexture *texture;
+ Texture *texture;
texture = textures[p_textureId];
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
glEnable(GL_TEXTURE_2D);
@@ -248,7 +248,7 @@ GLuint smTextureManager::activateTexture(int p_textureId)
GLuint smTextureManager::activateTexture(int p_textureId, int p_textureGLOrder)
{
- smTexture *texture;
+ Texture *texture;
texture = textures[p_textureId];
glActiveTexture(GL_TEXTURE0 + p_textureGLOrder);
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
@@ -270,7 +270,7 @@ GLuint smTextureManager::disableTexture(const std::string& p_textureReferenceNam
{
GLuint textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
@@ -283,7 +283,7 @@ GLuint smTextureManager::disableTexture(const std::string& p_textureReferenceNam
{
GLuint textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
@@ -297,7 +297,7 @@ GLuint smTextureManager::disableTexture(const std::string& p_textureReferenceNam
GLuint smTextureManager::disableTexture(int p_textureId)
{
- smTexture *texture;
+ Texture *texture;
texture = textures[p_textureId];
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
glDisable(GL_TEXTURE_2D);
@@ -309,7 +309,7 @@ GLuint smTextureManager::getOpenglTextureId(const std::string& p_textureReferenc
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
return texture->textureGLId;
@@ -320,7 +320,7 @@ GLuint smTextureManager::getOpenglTextureId(const std::string& p_textureReferenc
GLuint smTextureManager::getOpenglTextureId(int p_textureId)
{
- smTexture *texture;
+ Texture *texture;
texture = textures[p_textureId];
return texture->textureGLId;
@@ -330,8 +330,8 @@ GLuint smTextureManager::getOpenglTextureId(int p_textureId)
void smTextureManager::createDepthTexture(const std::string& p_textureReferenceName, int p_width, int p_height)
{
- smTexture *tex;
- tex = new smTexture();
+ Texture *tex;
+ tex = new Texture();
tex->height = p_height;
tex->width = p_width;
tex->GLtype = GL_TEXTURE_2D;
@@ -343,11 +343,11 @@ void smTextureManager::createDepthTexture(const std::string& p_textureReferenceN
}
/// \brief
-void smTextureManager::duplicateTexture(const std::string& p_textureReferenceName, smTexture *p_texture, ImageColorType p_type)
+void smTextureManager::duplicateTexture(const std::string& p_textureReferenceName, Texture *p_texture, ImageColorType p_type)
{
- smTexture *tex;
- tex = new smTexture();
+ Texture *tex;
+ tex = new Texture();
tex->height = p_texture->height;
tex->width = p_texture->width;
tex->GLtype = GL_TEXTURE_2D;
@@ -363,9 +363,9 @@ void smTextureManager::copyTexture(const std::string& /*p_textureDestinationName
{
// WARNING: This function does nothing
// int textureDstId;
-// smTexture *dstTex;
+// Texture *dstTex;
// int textureSrcId;
-// smTexture *srcTex;
+// Texture *srcTex;
//
// textureDstId = textureIndexId[p_textureDestinationName];
// dstTex = textures[textureDstId];
@@ -378,8 +378,8 @@ void smTextureManager::copyTexture(const std::string& /*p_textureDestinationName
void smTextureManager::createColorTexture(const std::string& p_textureReferenceName, int p_width, int p_height)
{
- smTexture *tex;
- tex = new smTexture();
+ Texture *tex;
+ tex = new Texture();
tex->height = p_height;
tex->width = p_width;
tex->GLtype = GL_TEXTURE_2D;
@@ -391,7 +391,7 @@ void smTextureManager::createColorTexture(const std::string& p_textureReferenceN
}
/// \brief
-void smTextureManager::initDepthTexture(smTexture *p_texture)
+void smTextureManager::initDepthTexture(Texture *p_texture)
{
glGenTextures(1, &p_texture->textureGLId);
@@ -409,7 +409,7 @@ void smTextureManager::initDepthTexture(smTexture *p_texture)
}
/// \brief
-void smTextureManager::initColorTexture(smTexture *p_texture)
+void smTextureManager::initColorTexture(Texture *p_texture)
{
glGenTextures(1, &p_texture->textureGLId);
@@ -424,11 +424,11 @@ void smTextureManager::initColorTexture(smTexture *p_texture)
}
/// \brief
-smTexture *smTextureManager::getTexture(const std::string& p_textureReferenceName)
+Texture *smTextureManager::getTexture(const std::string& p_textureReferenceName)
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
return texture = textures[textureId];
}
@@ -437,7 +437,7 @@ smTexture *smTextureManager::getTexture(const std::string& p_textureReferenceNam
void smTextureManager::generateMipMaps(int p_textureId)
{
- smTexture *texture;
+ Texture *texture;
texture = textures[p_textureId];
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
glGenerateMipmap(GL_TEXTURE_2D);
@@ -448,7 +448,7 @@ void smTextureManager::generateMipMaps(const std::string& p_textureReferenceName
{
int textureId;
- smTexture *texture;
+ Texture *texture;
textureId = textureIndexId[p_textureReferenceName];
texture = textures[textureId];
glBindTexture(GL_TEXTURE_2D, texture->textureGLId);
diff --git a/src/Rendering/TextureManager.h b/src/Rendering/TextureManager.h
index f52dbb54481df77f5d71c5fdfa7fcfebc63e54b3..a24bde05de8068243f49abf64ba0a50b905f1974 100644
--- a/src/Rendering/TextureManager.h
+++ b/src/Rendering/TextureManager.h
@@ -38,11 +38,11 @@
#include "Core/ErrorLog.h"
/// \brief texture manager. It loads any image format and initializes in the GL context
-class smTextureManager: public smCoreClass
+class smTextureManager: public CoreClass
{
- static std::shared_ptr<smErrorLog> errorLog;
- static std::vector<smTexture*> textures;
+ static std::shared_ptr<ErrorLog> errorLog;
+ static std::vector<Texture*> textures;
static std::unordered_map<std::string, int> textureIndexId;
static int activeTextures;
static bool isInitialized;
@@ -53,7 +53,7 @@ public:
/// \brief init function called by the renderer thread
static smTextureReturnType initGLTextures();
/// \brief initialization function
- static void init(std::shared_ptr<smErrorLog> p_errorLog = nullptr)
+ static void init(std::shared_ptr<ErrorLog> p_errorLog = nullptr)
{
if(!isInitialized)
{
@@ -77,14 +77,14 @@ public:
static smTextureReturnType findTextureId(const std::string& p_textureReferenceName,
int &p_textureId);
/// \brief activate textures based on texture reference name, texture reference, texture id and GL order
- static GLuint activateTexture(smTexture *p_texture);
+ static GLuint activateTexture(Texture *p_texture);
static GLuint activateTexture(const std::string& p_textureReferenceName);
static GLuint activateTexture(int p_textureId);
static GLuint activateTexture(const std::string& p_textureReferenceName,
int p_textureGLOrder);
- static GLuint activateTexture(smTexture *p_texture, int p_textureGLOrder,
+ static GLuint activateTexture(Texture *p_texture, int p_textureGLOrder,
int p_shaderBindGLId);
static GLuint activateTexture(const std::string& p_textureReferenceName,
@@ -104,7 +104,7 @@ public:
static GLuint getOpenglTextureId(const std::string& p_textureReferenceName);
static GLuint getOpenglTextureId(int p_textureId);
/// \brief to get texture with given texture reference name
- static smTexture * getTexture(const std::string& p_textureReferenceName);
+ static Texture * getTexture(const std::string& p_textureReferenceName);
/// \brief to create a depth texture
static void createDepthTexture(const std::string& p_textureReferenceName,
int p_width, int p_height);
@@ -113,14 +113,14 @@ public:
static void createColorTexture(const std::string& p_textureReferenceName,
int p_width, int p_height);
/// \brief initialize depth texture and color texture
- static void initDepthTexture(smTexture *p_texture);
- static void initColorTexture(smTexture *p_texture);
+ static void initDepthTexture(Texture *p_texture);
+ static void initColorTexture(Texture *p_texture);
/// \brief generate mip maps
static void generateMipMaps(int p_textureId);
static void generateMipMaps(const std::string& p_textureReferenceName);
/// \brief to duplicate the texture
static void duplicateTexture(const std::string& p_textureReferenceName,
- smTexture *p_texture, ImageColorType p_type);
+ Texture *p_texture, ImageColorType p_type);
/// \brief copy the texture specified with p_textureSourceName to the texture specified with p_textureDestinationName
static void copyTexture(const std::string& p_textureDestinationName,
diff --git a/src/Rendering/VAO.cpp b/src/Rendering/VAO.cpp
index b9afce856141b10cb14b28dcdb390c738c27f5d3..2b2a5d4c69864cd7e5c954518ebc5087c5b8a336 100644
--- a/src/Rendering/VAO.cpp
+++ b/src/Rendering/VAO.cpp
@@ -182,7 +182,7 @@ smVBOBufferEntryInfo::smVBOBufferEntryInfo()
nbrElements = 0;
arrayBufferType = SMVBO_POS;
}
-smVAO::smVAO( std::shared_ptr<smErrorLog> p_log, smVBOType p_vboType, bool p_bindShaderObjects )
+smVAO::smVAO( std::shared_ptr<ErrorLog> p_log, smVBOType p_vboType, bool p_bindShaderObjects )
{
this->log = p_log;
renderingError = false;
@@ -202,7 +202,7 @@ void smVAO::setBufferData( smVBOBufferType p_type, std::string p_ShaderAttribNam
p_type == SMVBO_TANGENTS ||
p_type == SMVBO_VEC3F )
{
- bufferInfo[totalNbrBuffers].size = sizeof( smVec3d ) * p_nbrElements;
+ bufferInfo[totalNbrBuffers].size = sizeof( core::Vec3d ) * p_nbrElements;
}
else if ( p_type == SMVBO_TEXTURECOORDS ||
p_type == SMVBO_VEC2F )
@@ -241,7 +241,7 @@ bool smVAO::setBufferDataFromMesh( smMesh *p_mesh, std::shared_ptr<smShader> p_s
}
bufferInfo[totalNbrBuffers].arrayBufferType = SMVBO_POS;
- bufferInfo[totalNbrBuffers].size = sizeof( smVec3d ) * p_mesh->nbrVertices;
+ bufferInfo[totalNbrBuffers].size = sizeof( core::Vec3d ) * p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attribPointer = p_mesh->vertices.data();
bufferInfo[totalNbrBuffers].nbrElements = p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attributeIndex = totalNbrBuffers;
@@ -249,7 +249,7 @@ bool smVAO::setBufferDataFromMesh( smMesh *p_mesh, std::shared_ptr<smShader> p_s
totalNbrBuffers++;
bufferInfo[totalNbrBuffers].arrayBufferType = SMVBO_NORMALS;
- bufferInfo[totalNbrBuffers].size = sizeof( smVec3d ) * p_mesh->nbrVertices;
+ bufferInfo[totalNbrBuffers].size = sizeof( core::Vec3d ) * p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attribPointer = p_mesh->vertNormals;
bufferInfo[totalNbrBuffers].nbrElements = p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attributeIndex = totalNbrBuffers;
@@ -268,7 +268,7 @@ bool smVAO::setBufferDataFromMesh( smMesh *p_mesh, std::shared_ptr<smShader> p_s
if ( p_mesh->tangentChannel )
{
bufferInfo[totalNbrBuffers].arrayBufferType = SMVBO_TANGENTS;
- bufferInfo[totalNbrBuffers].size = sizeof( smVec3d ) * p_mesh->nbrVertices;
+ bufferInfo[totalNbrBuffers].size = sizeof( core::Vec3d ) * p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attribPointer = p_mesh->vertTangents;
bufferInfo[totalNbrBuffers].nbrElements = p_mesh->nbrVertices;
bufferInfo[totalNbrBuffers].attributeIndex = totalNbrBuffers;
@@ -293,7 +293,7 @@ void smVAO::initVAOs()
x.second->initBuffers();
}
}
-std::shared_ptr<smVAO> smVAO::getVAO( std::shared_ptr<smUnifiedId> p_shaderID )
+std::shared_ptr<smVAO> smVAO::getVAO( std::shared_ptr<UnifiedId> p_shaderID )
{
return VAOs[p_shaderID->getId()];
}
diff --git a/src/Rendering/VAO.h b/src/Rendering/VAO.h
index 47bb79c2b3637c36571c219708fd06fe0fdaa7d3..2e0e2e4334538b266e388ec9b2278ffb36ff3d11 100644
--- a/src/Rendering/VAO.h
+++ b/src/Rendering/VAO.h
@@ -71,11 +71,11 @@ public:
};
/// \brief Vertex Array Object for fast rendering
-class smVAO: public smCoreClass
+class smVAO: public CoreClass
{
public:
/// \brief need error log and totalBuffer Size
- smVAO(std::shared_ptr<smErrorLog> p_log, smVBOType p_vboType = SIMMEDTK_VBO_DYNAMIC, bool p_bindShaderObjects = true);
+ smVAO(std::shared_ptr<ErrorLog> p_log, smVBOType p_vboType = SIMMEDTK_VBO_DYNAMIC, bool p_bindShaderObjects = true);
/// \brief set internal buffer manually. type, attrib name, number of elements and pointer to the data
void setBufferData(smVBOBufferType p_type, std::string p_ShaderAttribName, int p_nbrElements, void *p_ptr);
@@ -99,7 +99,7 @@ public:
void initBuffers();
/// \brief get VAO given the shader ID
- static std::shared_ptr<smVAO> getVAO(std::shared_ptr<smUnifiedId> p_shaderID);
+ static std::shared_ptr<smVAO> getVAO(std::shared_ptr<UnifiedId> p_shaderID);
/// \brief enable the vertex array object
void enable() const;
@@ -125,7 +125,7 @@ public:
smMesh *mesh;
private:
- std::shared_ptr<smErrorLog> log;
+ std::shared_ptr<ErrorLog> log;
std::shared_ptr<smShader> shader;
bool renderingError;
///Used for attaching attribs to the vertex objects
diff --git a/src/Rendering/VBO.cpp b/src/Rendering/VBO.cpp
index 53a6ff4ffcc38ecf1fe891506c0b24bc543b5a0f..02b1c7aac8a28bd46225de5de498b599ffaa59e8 100644
--- a/src/Rendering/VBO.cpp
+++ b/src/Rendering/VBO.cpp
@@ -23,7 +23,7 @@
#include "VBO.h"
-smVBO::smVBO( smErrorLog *p_log )
+smVBO::smVBO( ErrorLog *p_log )
{
this->log = p_log;
renderingError = false;
@@ -37,9 +37,9 @@ smVBO::~smVBO()
/// WARNING: This function takes arrays to Eigen 3d vectors,
/// it is not clear to me that the memory is aligned.
-smVBOResult smVBO::updateVertices(const smVectorf &p_vectors,
- const smVectorf &p_normals,
- const smVectorf &p_textureCoords,
+smVBOResult smVBO::updateVertices(const core::Vectorf &p_vectors,
+ const core::Vectorf &p_normals,
+ const core::Vectorf &p_textureCoords,
size_t p_objectId)
{
if (vboType == SIMMEDTK_VBO_STATIC)
@@ -82,7 +82,7 @@ smVBOResult smVBO::updateVertices(const smVectorf &p_vectors,
return SIMMEDTK_VBO_OK;
}
-smVBOResult smVBO::updateTriangleIndices(const smVector<size_t> &p_indices, size_t p_objectId)
+smVBOResult smVBO::updateTriangleIndices(const Vector<size_t> &p_indices, size_t p_objectId)
{
if ((vboType == SIMMEDTK_VBO_STATIC) | (vboType == SIMMEDTK_VBO_DYNAMIC))
{
@@ -125,7 +125,7 @@ smVBOResult smVBO::drawElements(size_t p_objectId)
indexOffset = indexOffsetMap[p_objectId];
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vboDataId);
glVertexPointer(3, GL_FLOAT, 0, reinterpret_cast<void*>(dataOffset));
- glNormalPointer(GL_FLOAT, 0, reinterpret_cast<void*>(dataOffset + nbrVertices * sizeof(smVec3d)));
+ glNormalPointer(GL_FLOAT, 0, reinterpret_cast<void*>(dataOffset + nbrVertices * sizeof(core::Vec3d)));
glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, vboIndexId);
glIndexPointer(GL_UNSIGNED_INT, 0, reinterpret_cast<void*>(indexOffset));
@@ -152,9 +152,9 @@ smVBOResult smVBO::drawElements(size_t p_objectId)
///Static Binding of the buffers. It is mandatory to call this function
/// this function must be called when the binding is SIMMEDTK_VBO_STATIC
-smVBOResult smVBO::initStaticVertices(const smVectorf &p_vectors,
- const smVectorf &p_normals,
- const smVectorf &p_textureCoords,
+smVBOResult smVBO::initStaticVertices(const core::Vectorf &p_vectors,
+ const core::Vectorf &p_normals,
+ const core::Vectorf &p_textureCoords,
size_t p_objectId)
{
if (vboType == SIMMEDTK_VBO_DYNAMIC)
@@ -186,7 +186,7 @@ smVBOResult smVBO::initStaticVertices(const smVectorf &p_vectors,
///init Triangle Indices for the very first time for static objects
///this function must be called when the indices are not changing
///SIMMEDTK_VBO_NOINDICESCHANGE
-smVBOResult smVBO::initTriangleIndices(const smVector<size_t> &p_indices, size_t p_objectId)
+smVBOResult smVBO::initTriangleIndices(const Vector<size_t> &p_indices, size_t p_objectId)
{
size_t indexOffset;
@@ -247,7 +247,7 @@ void smVBO::init( smVBOType p_vboType )
smVBOResult smVBO::addVerticestoBuffer( const size_t p_nbrVertices, const size_t p_nbrTriangles, const size_t p_objectId )
{
- if ( sizeof( smVec3d )*p_nbrVertices + sizeof( smVec3d )*p_nbrVertices + sizeof( smTexCoord )*p_nbrVertices > sizeOfDataBuffer - currentDataOffset )
+ if ( sizeof( core::Vec3d )*p_nbrVertices + sizeof( core::Vec3d )*p_nbrVertices + sizeof( smTexCoord )*p_nbrVertices > sizeOfDataBuffer - currentDataOffset )
{
return SIMMEDTK_VBO_NODATAMEMORY;
}
@@ -262,7 +262,7 @@ smVBOResult smVBO::addVerticestoBuffer( const size_t p_nbrVertices, const size_t
numberofVertices[p_objectId] = p_nbrVertices;
numberofTriangles[p_objectId] = p_nbrTriangles;
///add the vertices and normals and the texture coordinates
- currentDataOffset += sizeof( smVec3d ) * p_nbrVertices + sizeof( smVec3d ) * p_nbrVertices + sizeof( smTexCoord ) * p_nbrVertices;
+ currentDataOffset += sizeof( core::Vec3d ) * p_nbrVertices + sizeof( core::Vec3d ) * p_nbrVertices + sizeof( smTexCoord ) * p_nbrVertices;
currentIndexOffset += p_nbrTriangles * sizeof( smTriangle );
return SIMMEDTK_VBO_OK;
}
diff --git a/src/Rendering/VBO.h b/src/Rendering/VBO.h
index 301f138447e23802ccc0087ba7c52cb19d1e2736..3e95a26076ee1ff8c98081350bf54e2914905937 100644
--- a/src/Rendering/VBO.h
+++ b/src/Rendering/VBO.h
@@ -38,7 +38,7 @@
#include "Core/Vector.h"
/// \brief VBO for rendering
-class smVBO: public smCoreClass
+class smVBO: public CoreClass
{
private:
/// \brief offsets for each mesh
@@ -61,13 +61,13 @@ private:
/// \brief number of triangles
std::unordered_map<size_t, size_t> numberofTriangles;
/// \brief error log
- smErrorLog *log;
+ ErrorLog *log;
/// \brief rendering error
bool renderingError;
public:
/// \brief constructor. gets error log or NULL
- smVBO(smErrorLog *p_log);
+ smVBO(ErrorLog *p_log);
/// \brief init with given VBO type
void init(smVBOType p_vboType);
@@ -78,25 +78,25 @@ public:
const size_t p_objectId);
/// \brief update vertex data buffer
- smVBOResult updateVertices(const smVectorf &p_vectors,
- const smVectorf &p_normals,
- const smVectorf &p_textureCoords,
+ smVBOResult updateVertices(const core::Vectorf &p_vectors,
+ const core::Vectorf &p_normals,
+ const core::Vectorf &p_textureCoords,
size_t p_objectId);
/// \brief update triangle index
- smVBOResult updateTriangleIndices(const smVector<size_t> &p_indices, size_t p_objectId);
+ smVBOResult updateTriangleIndices(const Vector<size_t> &p_indices, size_t p_objectId);
/// \brief draw elements in VBO
smVBOResult drawElements(size_t p_objectId);
/// \brief update the static vertices initially
- smVBOResult initStaticVertices(const smVectorf &p_vectors,
- const smVectorf &p_normals,
- const smVectorf &p_textureCoords,
+ smVBOResult initStaticVertices(const core::Vectorf &p_vectors,
+ const core::Vectorf &p_normals,
+ const core::Vectorf &p_textureCoords,
size_t p_objectId);
/// \brief update the static triangle indices initially
- smVBOResult initTriangleIndices(const smVector<size_t> &p_indices, size_t p_objectId);
+ smVBOResult initTriangleIndices(const Vector<size_t> &p_indices, size_t p_objectId);
/// \brief deletion of the VBO buffers
~smVBO();
diff --git a/src/Rendering/Viewer.cpp b/src/Rendering/Viewer.cpp
index c219bd05ae09806f613b50070d352cdab705fd68..448add6bf1c24e0cb1fed310a7e673029383628e 100644
--- a/src/Rendering/Viewer.cpp
+++ b/src/Rendering/Viewer.cpp
@@ -185,11 +185,11 @@ void smViewer::renderTextureOnView()
/// \param p_width The width of the fbo
/// \param p_height The height of the fbo
void smViewer::addFBO(const std::string &p_fboName,
- smTexture *p_colorTex,
- smTexture *p_depthTex,
+ Texture *p_colorTex,
+ Texture *p_depthTex,
unsigned int p_width, unsigned int p_height)
{
- smFboListItem item;
+ FboListItem item;
item.fboName = p_fboName;
item.width = p_width;
@@ -211,7 +211,7 @@ void smViewer::initFboListItems()
{
for (size_t i = 0; i < this->fboListItems.size(); i++)
{
- smFboListItem *item = &fboListItems[i];
+ FboListItem *item = &fboListItems[i];
item->fbo = new smFrameBuffer();
item->fbo->setDim(item->width, item->height);
if (item->colorTex)
@@ -265,7 +265,7 @@ void smViewer::processWindowEvents()
}
/// \brief Renders the render operation to an FBO
-void smViewer::renderToFBO(const smRenderOperation &p_rop)
+void smViewer::renderToFBO(const RenderOperation &p_rop)
{
assert(p_rop.fbo);
//Enable FBO for rendering
@@ -282,7 +282,7 @@ void smViewer::renderToFBO(const smRenderOperation &p_rop)
}
/// \brief Renders the render operation to screen
-void smViewer::renderToScreen(const smRenderOperation &p_rop)
+void smViewer::renderToScreen(const RenderOperation &p_rop)
{
//Setup Viewport & Clear buffers
glViewport(0, 0, this->width(), this->height());
@@ -295,8 +295,8 @@ void smViewer::renderToScreen(const smRenderOperation &p_rop)
//Render axis
if (viewerRenderDetail & SIMMEDTK_VIEWERRENDER_GLOBAL_AXIS)
{
- smMatrix44f proj = p_rop.scene->getCamera()->getProjMat();
- smMatrix44f view = p_rop.scene->getCamera()->getViewMat();
+ Matrix44f proj = p_rop.scene->getCamera()->getProjMat();
+ Matrix44f view = p_rop.scene->getCamera()->getViewMat();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
@@ -322,11 +322,11 @@ void smViewer::renderToScreen(const smRenderOperation &p_rop)
}
/// \brief Registers a scene for rendering with the viewer
-void smViewer::registerScene(std::shared_ptr<smScene> p_scene,
+void smViewer::registerScene(std::shared_ptr<Scene> p_scene,
smRenderTargetType p_target,
const std::string &p_fboName)
{
- smRenderOperation rop;
+ RenderOperation rop;
//sanity checks
assert(p_scene);
@@ -411,7 +411,7 @@ void smViewer::processSFMLEvents(const sf::Event& p_event)
auto mouseEvent = std::make_shared<mstk::Event::smMouseButtonEvent>(mouseButton);
mouseEvent->setPresed(sf::Event::MouseButtonPressed == p_event.type);
- mouseEvent->setWindowCoord(smVec2d(p_event.mouseButton.x,p_event.mouseButton.y));
+ mouseEvent->setWindowCoord(core::Vec2d(p_event.mouseButton.x,p_event.mouseButton.y));
eventHandler->triggerEvent(mouseEvent);
break;
}
@@ -419,7 +419,7 @@ void smViewer::processSFMLEvents(const sf::Event& p_event)
{
auto mouseEvent = std::make_shared<mstk::Event::smMouseMoveEvent>();
mouseEvent->setSender(mstk::Event::EventSender::Module);
- mouseEvent->setWindowCoord(smVec2d(p_event.mouseMove.x, p_event.mouseMove.y));
+ mouseEvent->setWindowCoord(core::Vec2d(p_event.mouseMove.x, p_event.mouseMove.y));
eventHandler->triggerEvent(mouseEvent);
break;
}
@@ -428,14 +428,14 @@ void smViewer::processSFMLEvents(const sf::Event& p_event)
}
}
-void smViewer::addObject(std::shared_ptr<smCoreClass> object)
+void smViewer::addObject(std::shared_ptr<CoreClass> object)
{
- smSDK::getInstance()->addRef(object);
+ SDK::getInstance()->addRef(object);
objectList.push_back(object);
}
-void smViewer::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event )
+void smViewer::handleEvent(std::shared_ptr<mstk::Event::Event> p_event )
{
}
@@ -473,6 +473,6 @@ void smViewer::cleanUp()
SIMMEDTK_BEGIN_DYNAMIC_LOADER()
SIMMEDTK_BEGIN_ONLOAD(register_rendering_viewer)
- SIMMEDTK_REGISTER_CLASS(smCoreClass,smViewerBase,smViewer,100);
+ SIMMEDTK_REGISTER_CLASS(CoreClass,ViewerBase,smViewer,100);
SIMMEDTK_FINISH_ONLOAD()
SIMMEDTK_FINISH_DYNAMIC_LOADER()
diff --git a/src/Rendering/Viewer.h b/src/Rendering/Viewer.h
index 85cdddb3e46d0fd258f72623152b72350c150527..ce6f658546a18610197b69495d67d9e1e6c4c259 100644
--- a/src/Rendering/Viewer.h
+++ b/src/Rendering/Viewer.h
@@ -42,7 +42,7 @@
class smOpenGLWindowStream;
/// \brief Handles all rendering routines.
-class smViewer : public smViewerBase
+class smViewer : public ViewerBase
{
public:
std::unique_ptr<sf::Context> sfmlContext;
@@ -55,7 +55,7 @@ public:
/// \brief for exit viewer
virtual void exitViewer() override;
/// \brief add object for rendering
- void addObject(std::shared_ptr<smCoreClass> object);
+ void addObject(std::shared_ptr<CoreClass> object);
/// \brief add text for display
virtual void addText(std::string p_tag) override;
/// \brief update text
@@ -67,15 +67,15 @@ public:
void setWindowTitle(const std::string &str);
/// \brief enable/disable VSync
virtual void setVSync(bool sync) override;
- virtual void registerScene(std::shared_ptr<smScene> p_scene, smRenderTargetType p_target, const std::string &p_fboName);
+ virtual void registerScene(std::shared_ptr<Scene> p_scene, smRenderTargetType p_target, const std::string &p_fboName);
virtual void addFBO(const std::string &p_fboName,
- smTexture *p_colorTex, smTexture *p_depthTex,
+ Texture *p_colorTex, Texture *p_depthTex,
unsigned int p_width, unsigned int p_height);
std::string windowTitle;
- smColor defaultDiffuseColor;
- smColor defaultAmbientColor;
- smColor defaultSpecularColor;
+ Color defaultDiffuseColor;
+ Color defaultAmbientColor;
+ Color defaultSpecularColor;
protected:
virtual void initRenderingCapabilities() override;
@@ -89,8 +89,8 @@ protected:
virtual void processViewerOptions() override;
virtual void processWindowEvents() override;
- virtual void renderToScreen(const smRenderOperation &p_rop) override;
- virtual void renderToFBO(const smRenderOperation &p_rop) override;
+ virtual void renderToScreen(const RenderOperation &p_rop) override;
+ virtual void renderToFBO(const RenderOperation &p_rop) override;
virtual void initFboListItems();
virtual void destroyFboListItems();
virtual void setToDefaults() override;
@@ -98,7 +98,7 @@ protected:
virtual void endFrame() override;
virtual void renderTextureOnView() override;
/// \brief event handler
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief processes an SFML event
void processSFMLEvents(const sf::Event& p_event);
};
diff --git a/src/Simulators/DummySimulator.cpp b/src/Simulators/DummySimulator.cpp
index d6a32f98b085d1d831ca253bd257ab6409d5bbf1..b58accf41c5a71285c043ffb68a54538ee47f33c 100644
--- a/src/Simulators/DummySimulator.cpp
+++ b/src/Simulators/DummySimulator.cpp
@@ -28,7 +28,7 @@
#include "Event/KeyboardEvent.h"
#include "Collision/MeshCollisionModel.h"
-smDummySimulator::smDummySimulator( std::shared_ptr<smErrorLog> p_errorLog ) : smObjectSimulator( p_errorLog )
+smDummySimulator::smDummySimulator( std::shared_ptr<ErrorLog> p_errorLog ) : ObjectSimulator( p_errorLog )
{
}
void smDummySimulator::beginSim()
@@ -46,8 +46,8 @@ void smDummySimulator::initCustom()
{
case core::ClassType::StaticSceneObject:
{
- auto staticObject = std::static_pointer_cast<smStaticSceneObject>(object);
- auto model = std::static_pointer_cast<smMeshCollisionModel>(staticObject->getModel());
+ auto staticObject = std::static_pointer_cast<StaticSceneObject>(object);
+ auto model = std::static_pointer_cast<MeshCollisionModel>(staticObject->getModel());
if(nullptr == model)
{
break;
@@ -77,8 +77,8 @@ void smDummySimulator::run()
//ensure that dummy simulator will work on static scene objects only.
if ( sceneObj->getType() == core::ClassType::StaticSceneObject )
{
- auto staticSceneObject = std::static_pointer_cast<smStaticSceneObject>(sceneObj);
- auto model = std::static_pointer_cast<smMeshCollisionModel>(staticSceneObject->getModel());
+ auto staticSceneObject = std::static_pointer_cast<StaticSceneObject>(sceneObj);
+ auto model = std::static_pointer_cast<MeshCollisionModel>(staticSceneObject->getModel());
if(nullptr == model)
{
break;
@@ -107,8 +107,8 @@ void smDummySimulator::syncBuffers()
//ensure that dummy simulator will work on static scene objects only.
if ( sceneObj->getType() == core::ClassType::StaticSceneObject )
{
- auto staticSceneObject = std::static_pointer_cast<smStaticSceneObject>(sceneObj);
- auto model = std::static_pointer_cast<smMeshCollisionModel>(staticSceneObject->getModel());
+ auto staticSceneObject = std::static_pointer_cast<StaticSceneObject>(sceneObj);
+ auto model = std::static_pointer_cast<MeshCollisionModel>(staticSceneObject->getModel());
if(nullptr == model)
{
break;
@@ -119,7 +119,7 @@ void smDummySimulator::syncBuffers()
}
}
}
-void smDummySimulator::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event )
+void smDummySimulator::handleEvent(std::shared_ptr<mstk::Event::Event> p_event )
{
if(!this->isListening())
{
diff --git a/src/Simulators/DummySimulator.h b/src/Simulators/DummySimulator.h
index cdb58762fa4e0df7703430fd7b4eed5a1618bb78..33af10a336494204ec96b9eb3f43587760a16ee9 100644
--- a/src/Simulators/DummySimulator.h
+++ b/src/Simulators/DummySimulator.h
@@ -30,12 +30,12 @@
#include "Core/ErrorLog.h"
/// \brief Example simulator. This dummy simulator works on static scene objects for now.
-class smDummySimulator: public smObjectSimulator
+class smDummySimulator: public ObjectSimulator
{
public:
/// \brief constructor
- smDummySimulator(std::shared_ptr<smErrorLog> p_errorLog);
+ smDummySimulator(std::shared_ptr<ErrorLog> p_errorLog);
virtual ~smDummySimulator(){}
protected:
@@ -54,7 +54,7 @@ protected:
void syncBuffers() override;
/// \brief catch events such as key presses and other user inputs
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
};
#endif
diff --git a/src/Simulators/MyStylus.cpp b/src/Simulators/MyStylus.cpp
index 2c428cb3b7a070ee12e7d65924df0d7b3f373a98..d6f9f228a5e6482c38b1066b068681da47112b95 100644
--- a/src/Simulators/MyStylus.cpp
+++ b/src/Simulators/MyStylus.cpp
@@ -35,24 +35,24 @@
MyStylus::MyStylus(const std::string& p_shaft, const std::string& p_lower, const std::string& p_upper)
{
angle = 0;
- smMatrix33d rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitX()).matrix();
+ Matrix33d rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitX()).matrix();
smSurfaceMesh *mesh = new smSurfaceMesh(SMMESH_RIGID, NULL);
mesh->loadMesh(p_shaft, SM_FILETYPE_3DS);
mesh->assignTexture("hookCautery");
- mesh->scale(smVec3d(0.2, 0.2, 0.2));
+ mesh->scale(core::Vec3d(0.2, 0.2, 0.2));
mesh->rotate(rot);
smSurfaceMesh *lowerMesh = new smSurfaceMesh(SMMESH_RIGID, NULL);
lowerMesh->loadMesh(p_lower, SM_FILETYPE_3DS);
lowerMesh->assignTexture("metal");
- lowerMesh->scale(smVec3d(0.2, 0.2, 0.2));
+ lowerMesh->scale(core::Vec3d(0.2, 0.2, 0.2));
lowerMesh->rotate(rot);
smSurfaceMesh *upperMesh = new smSurfaceMesh(SMMESH_RIGID, NULL);
upperMesh->loadMesh(p_upper, SM_FILETYPE_3DS);
upperMesh->assignTexture("metal");
- upperMesh->scale(smVec3d(0.2, 0.2, 0.2));
+ upperMesh->scale(core::Vec3d(0.2, 0.2, 0.2));
upperMesh->rotate(rot);
meshContainer.name = "HookCauteryPivot";
@@ -105,7 +105,7 @@ void MyStylus::updateOpenClose()
}
//This function is not fixed for a reason....I'll give you a hint...try to match the brackets
-void MyStylus::handleEvent (std::shared_ptr<mstk::Event::smEvent> p_event)
+void MyStylus::handleEvent (std::shared_ptr<mstk::Event::Event> p_event)
{
if(!this->isListening())
{
@@ -183,12 +183,12 @@ void MyStylus::handleEvent (std::shared_ptr<mstk::Event::smEvent> p_event)
HookCautery::HookCautery(const std::string& p_pivot)
{
- smMatrix33d rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitX()).matrix();
+ Matrix33d rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitX()).matrix();
smSurfaceMesh *mesh = new smSurfaceMesh(SMMESH_RIGID, NULL);
mesh->loadMesh(p_pivot, SM_FILETYPE_3DS);
mesh->assignTexture("metal");
- mesh->scale(smVec3d(0.2, 0.2, 0.2));
+ mesh->scale(core::Vec3d(0.2, 0.2, 0.2));
mesh->rotate(rot);
meshContainer.name = "HookCauteryPivot";
@@ -198,7 +198,7 @@ HookCautery::HookCautery(const std::string& p_pivot)
addMeshContainer(&meshContainer);
}
-void HookCautery::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event)
+void HookCautery::handleEvent(std::shared_ptr<mstk::Event::Event> p_event)
{
if(!this->isListening())
{
diff --git a/src/Simulators/MyStylus.h b/src/Simulators/MyStylus.h
index 2831f3dba4ed54e5ea398092de2079446899f121..d86584406757751e2be7245450a70b6dd64989da 100644
--- a/src/Simulators/MyStylus.h
+++ b/src/Simulators/MyStylus.h
@@ -44,7 +44,7 @@ public:
smMeshContainer meshContainer, meshContainerLower, meshContainerUpper; ///< !!
/// \brief handle keyboard and omni button presses
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief constructor
MyStylus(const std::string& p_shaft = "../../resources/models/blunt_diss_pivot.3DS",
@@ -65,7 +65,7 @@ public:
smMeshContainer meshContainer; ///< !!
/// \brief handle keyboard and omni button presses
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief constructor
HookCautery(const std::string& p_pivot = "../../resources/models/hook_cautery_new.3DS");
diff --git a/src/Simulators/PBDObjectSimulator.cpp b/src/Simulators/PBDObjectSimulator.cpp
index 23a6cdac8445f3f4d20ca6ed84d164edf1206ed7..a69f31bc7ba47200ded85cab664a88bb9c45d1aa 100644
--- a/src/Simulators/PBDObjectSimulator.cpp
+++ b/src/Simulators/PBDObjectSimulator.cpp
@@ -27,7 +27,7 @@
void smPBDObjectSimulator::draw()
{
- smObjectSimulator::draw();
+ ObjectSimulator::draw();
std::shared_ptr<smPBDSurfaceSceneObject> sceneObject;
for (size_t i = 0; i < objectsSimulated.size(); i++)
@@ -36,7 +36,7 @@ void smPBDObjectSimulator::draw()
smGLRenderer::draw(sceneObject->mesh->aabb);
}
}
-smPBDObjectSimulator::smPBDObjectSimulator( std::shared_ptr<smErrorLog> p_errorLog ) : smObjectSimulator( p_errorLog )
+smPBDObjectSimulator::smPBDObjectSimulator( std::shared_ptr<ErrorLog> p_errorLog ) : ObjectSimulator( p_errorLog )
{
this->scheduleGroup.maxTargetFPS = 100;
this->scheduleGroup.minTargetFPS = 30;
@@ -57,7 +57,7 @@ void smPBDObjectSimulator::initObject( std::shared_ptr<smPBDSurfaceSceneObject>
void smPBDObjectSimulator::initCustom()
{
core::ClassType type;
- std::shared_ptr<smSceneObject> object;
+ std::shared_ptr<SceneObject> object;
std::shared_ptr<smPBDSurfaceSceneObject> pbdSurfaceSceneObject;
//do nothing for now
@@ -82,10 +82,10 @@ void smPBDObjectSimulator::initCustom()
}
void smPBDObjectSimulator::run()
{
- std::shared_ptr<smSceneObject> sceneObj;
+ std::shared_ptr<SceneObject> sceneObj;
std::shared_ptr<smPBDSurfaceSceneObject> pbdSurfaceSceneObject;
float dist, lamda;
- smVec3d dirVec, dP;
+ core::Vec3d dirVec, dP;
int count = 0;
int a, b;
@@ -99,7 +99,7 @@ void smPBDObjectSimulator::run()
if ( sceneObj->getType() == core::ClassType::PbdSurfaceSceneObject )
{
pbdSurfaceSceneObject = std::static_pointer_cast<smPBDSurfaceSceneObject>(sceneObj);
- smStdVector3d &vertices = pbdSurfaceSceneObject->getLocalVertices();
+ core::StdVector3d &vertices = pbdSurfaceSceneObject->getLocalVertices();
if ( !pbdSurfaceSceneObject->getFlags().isSimulatorInit )
{
@@ -108,7 +108,7 @@ void smPBDObjectSimulator::run()
for ( int i = 0; i < pbdSurfaceSceneObject->nbrMass; i++ )
{
- pbdSurfaceSceneObject->exF[i] = smVec3d::Zero();
+ pbdSurfaceSceneObject->exF[i] = core::Vec3d::Zero();
}
for ( int i = 0; i < pbdSurfaceSceneObject->nbrMass; i++ )
@@ -184,7 +184,7 @@ void smPBDObjectSimulator::run()
}
void smPBDObjectSimulator::syncBuffers()
{
- std::shared_ptr<smSceneObject> sceneObj;
+ std::shared_ptr<SceneObject> sceneObj;
std::shared_ptr<smPBDSurfaceSceneObject> pbdSurfaceSceneObject;
for ( size_t i = 0; i < this->objectsSimulated.size(); i++ )
@@ -202,7 +202,7 @@ void smPBDObjectSimulator::syncBuffers()
}
}
}
-void smPBDObjectSimulator::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event )
+void smPBDObjectSimulator::handleEvent(std::shared_ptr<mstk::Event::Event> p_event )
{
;
diff --git a/src/Simulators/PBDObjectSimulator.h b/src/Simulators/PBDObjectSimulator.h
index baea82a00a3dd87de14f75e1d39579facf06c300..d5b35390c4cf9de6408c9ee914dc709a62dc7a2f 100644
--- a/src/Simulators/PBDObjectSimulator.h
+++ b/src/Simulators/PBDObjectSimulator.h
@@ -28,17 +28,17 @@
#include "Core/ObjectSimulator.h"
#include "Core/EventHandler.h"
-class smErrorLog;
+class ErrorLog;
class smPBDSurfaceSceneObject;
-class smEvent;
+class Event;
/// \brief Example Position based dynamics (PBD) simulator
-class smPBDObjectSimulator: public smObjectSimulator
+class smPBDObjectSimulator: public ObjectSimulator
{
public:
/// \brief constructor
- smPBDObjectSimulator(std::shared_ptr<smErrorLog> p_errorLog);
+ smPBDObjectSimulator(std::shared_ptr<ErrorLog> p_errorLog);
protected:
/// \brief initialize the PBD object
@@ -53,7 +53,7 @@ protected:
void syncBuffers() override;
/// \brief handle key presses and other user events
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief render the PBD objects
void draw() override;
diff --git a/src/Simulators/PBDSceneObject.cpp b/src/Simulators/PBDSceneObject.cpp
index 500297a896053cf0e419bfab646796b95c68fe10..b9f693608185f7952396513e00e68c549ee3ba49 100644
--- a/src/Simulators/PBDSceneObject.cpp
+++ b/src/Simulators/PBDSceneObject.cpp
@@ -23,7 +23,7 @@
#include "PBDSceneObject.h"
-void smPBDSurfaceSceneObject::findFixedMassWrtSphere(smVec3d p_center, float p_radius)
+void smPBDSurfaceSceneObject::findFixedMassWrtSphere(core::Vec3d p_center, float p_radius)
{
float dist = 0;
@@ -38,14 +38,14 @@ void smPBDSurfaceSceneObject::findFixedMassWrtSphere(smVec3d p_center, float p_r
}
}
}
-smPBDSceneObject::smPBDSceneObject( std::shared_ptr<smErrorLog>/*p_log*/ )
+smPBDSceneObject::smPBDSceneObject( std::shared_ptr<ErrorLog>/*p_log*/ )
{
type = core::ClassType::PbdSceneObject;
}
-std::shared_ptr<smSceneObject> smPBDSceneObject::clone()
+std::shared_ptr<SceneObject> smPBDSceneObject::clone()
{
- return safeDownCast<smSceneObject>();
+ return safeDownCast<SceneObject>();
}
void smPBDSceneObject::serialize( void */*p_memoryBlock*/ )
@@ -58,14 +58,14 @@ void smPBDSceneObject::unSerialize( void */*p_memoryBlock*/ )
}
-smPBDSurfaceSceneObject::smPBDSurfaceSceneObject( std::shared_ptr<smErrorLog> p_log )
+smPBDSurfaceSceneObject::smPBDSurfaceSceneObject( std::shared_ptr<ErrorLog> p_log )
{
type = core::ClassType::PbdSurfaceSceneObject;
mesh = new smSurfaceMesh( SMMESH_DEFORMABLE, p_log );
}
-std::shared_ptr<smSceneObject> smPBDSurfaceSceneObject::clone()
+std::shared_ptr<SceneObject> smPBDSurfaceSceneObject::clone()
{
- return safeDownCast<smSceneObject>();
+ return safeDownCast<SceneObject>();
}
void smPBDSurfaceSceneObject::serialize( void */*p_memoryBlock*/ )
{
@@ -91,9 +91,9 @@ void smPBDSurfaceSceneObject::InitSurfaceObject()
//surface mesh
nbrMass = mesh->nbrVertices;
- P = new smVec3d[nbrMass];
- V = new smVec3d[nbrMass];
- exF = new smVec3d[nbrMass];
+ P = new core::Vec3d[nbrMass];
+ V = new core::Vec3d[nbrMass];
+ exF = new core::Vec3d[nbrMass];
fixedMass = new bool[nbrMass];
for ( int i = 0; i < nbrMass; i++ )
@@ -148,7 +148,7 @@ void smPBDSurfaceSceneObject::findFixedCorners()
nbrFixedMass = 2;
listFixedMass = new int[nbrFixedMass];
- smVec3d corner[2];
+ core::Vec3d corner[2];
int i, j;
float minmin, dist;
corner[0] = mesh->aabb.aabbMax;
diff --git a/src/Simulators/PBDSceneObject.h b/src/Simulators/PBDSceneObject.h
index 491a13d20cf3a70188b0cf5a2ceba97e85160401..0340364d988d8eb6e9f5f54de4bd53efbbe114b0 100644
--- a/src/Simulators/PBDSceneObject.h
+++ b/src/Simulators/PBDSceneObject.h
@@ -31,14 +31,14 @@
#include "Mesh/Mesh.h"
/// \brief Position based dynamics (PBD) object
-class smPBDSceneObject: public smSceneObject
+class smPBDSceneObject: public SceneObject
{
public:
/// \brief constructor
- smPBDSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smPBDSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
/// \brief !!
- virtual std::shared_ptr<smSceneObject> clone();
+ virtual std::shared_ptr<SceneObject> clone();
/// \brief !!
virtual void serialize(void *p_memoryBlock);
@@ -55,18 +55,18 @@ public:
float Damp; ///< damping values
int nbrMass; ///< number of masses
int **massIdx; ///< !!
- smStdVector3d P; ///< !! position
- smStdVector3d V; ///< !! velocity
- smStdVector3d exF; ///< external force
+ core::StdVector3d P; ///< !! position
+ core::StdVector3d V; ///< !! velocity
+ core::StdVector3d exF; ///< external force
int nbrSpr; ///< !! number of spheres
float *L0; ///< !! Initial length
bool *fixedMass; ///< true if masses are fixed
int nbrFixedMass; ///< number of fixed masses
int *listFixedMass; ///< list of IDs of masses that are fixed
- smVec3d ball_pos; ///< !! position of ball
- smVec3d ball_vel; ///< !! velocity of ball
- smVec3d ball_frc; ///< !!
+ core::Vec3d ball_pos; ///< !! position of ball
+ core::Vec3d ball_vel; ///< !! velocity of ball
+ core::Vec3d ball_frc; ///< !!
float ball_mass; ///< !! mass of ball
float ball_rad; ///< !! radius of ball
@@ -78,10 +78,10 @@ class smPBDSurfaceSceneObject: public smPBDSceneObject
public:
/// \brief constructor
- smPBDSurfaceSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smPBDSurfaceSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
/// \brief !!
- virtual std::shared_ptr<smSceneObject> clone() override;
+ virtual std::shared_ptr<SceneObject> clone() override;
/// \brief !!
virtual void serialize(void *p_memoryBlock) override;
@@ -99,7 +99,7 @@ public:
~smPBDSurfaceSceneObject();
/// \brief find the masses that will be fixed based on the spheres
- void findFixedMassWrtSphere(smVec3d p_center, float pos);
+ void findFixedMassWrtSphere(core::Vec3d p_center, float pos);
/// \brief find fixed corners
void findFixedCorners();
diff --git a/src/Simulators/SceneObjectDeformable.cpp b/src/Simulators/SceneObjectDeformable.cpp
index b55b47bdb38fbd083a8d7a3eca16d59a62d1f39e..80a7fb76396343ee0f0b1b850cb248d9103c51ff 100644
--- a/src/Simulators/SceneObjectDeformable.cpp
+++ b/src/Simulators/SceneObjectDeformable.cpp
@@ -33,7 +33,7 @@ smSceneObjectDeformable::smSceneObjectDeformable() :
subTimestepCounter(0)
{
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createSubclass(
+ Factory<RenderDelegate>::createSubclass(
"RenderDelegate", "SceneObjectDeformableRenderDelegate"));
}
@@ -58,30 +58,30 @@ void smSceneObjectDeformable::setContactForcesToZero()
}
void smSceneObjectDeformable::setContactForceOfNodeWithDofID(const int dofID,
- const smVec3d force)
+ const core::Vec3d force)
{
f_contact[dofID] = force(0);
f_contact[dofID + 1] = force(1);
f_contact[dofID + 2] = force(2);
}
-smVec3d smSceneObjectDeformable::getVelocityOfNodeWithDofID(const int dofID) const
+core::Vec3d smSceneObjectDeformable::getVelocityOfNodeWithDofID(const int dofID) const
{
- smVec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
+ core::Vec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
return vel;
}
-smVec3d smSceneObjectDeformable::getDisplacementOfNodeWithDofID(const int dofID) const
+core::Vec3d smSceneObjectDeformable::getDisplacementOfNodeWithDofID(const int dofID) const
{
- smVec3d disp(u[dofID], u[dofID + 1], u[dofID + 2]);
+ core::Vec3d disp(u[dofID], u[dofID + 1], u[dofID + 2]);
return disp;
}
-smVec3d smSceneObjectDeformable::getAccelerationOfNodeWithDofID(const int dofID) const
+core::Vec3d smSceneObjectDeformable::getAccelerationOfNodeWithDofID(const int dofID) const
{
- smVec3d accn(uaccel[dofID], uaccel[dofID + 1], uaccel[dofID + 2]);
+ core::Vec3d accn(uaccel[dofID], uaccel[dofID + 1], uaccel[dofID + 2]);
return accn;
}
@@ -111,7 +111,7 @@ int smSceneObjectDeformable::getNumFixedDof() const
return numFixedDof;
}
-void smSceneObjectDeformable::setRenderDetail(const std::shared_ptr<smRenderDetail> &r)
+void smSceneObjectDeformable::setRenderDetail(const std::shared_ptr<RenderDetail> &r)
{
primarySurfaceMesh->setRenderDetail(r);
diff --git a/src/Simulators/SceneObjectDeformable.h b/src/Simulators/SceneObjectDeformable.h
index b9363473056b82c30a9df6f86c9d564cd3746602..b0da0a341ff544545e648d8903b157eb308c7b43 100644
--- a/src/Simulators/SceneObjectDeformable.h
+++ b/src/Simulators/SceneObjectDeformable.h
@@ -33,7 +33,7 @@
#include "Mesh/VegaSceneObjectDeformable.h"
/// \brief Base class for any scene object that is defmormable
-class smSceneObjectDeformable : public smSceneObject
+class smSceneObjectDeformable : public SceneObject
{
public:
@@ -76,19 +76,19 @@ public:
/// \brief Sets the contact force at a given location
/// (not given node) in contact force vector
- void setContactForceOfNodeWithDofID(const int dofID, const smVec3d force);
+ void setContactForceOfNodeWithDofID(const int dofID, const core::Vec3d force);
/// \brief returns displacement of at a given location
/// (not given node) in contact force vector
- smVec3d getDisplacementOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getDisplacementOfNodeWithDofID(const int dofID) const;
/// \brief returns velocity of at a given location
/// (not given node) in contact force vector
- smVec3d getVelocityOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getVelocityOfNodeWithDofID(const int dofID) const;
/// \brief returns acceleration of at a given location
/// (not given node) in contact force vector
- smVec3d getAccelerationOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getAccelerationOfNodeWithDofID(const int dofID) const;
/// \brief get the total number of nodes
int getNumNodes() const;
@@ -108,7 +108,7 @@ public:
/// \brief sets the objects specific render details
/// Should be moved to base class in near future
- void setRenderDetail(const std::shared_ptr<smRenderDetail> &r);
+ void setRenderDetail(const std::shared_ptr<RenderDetail> &r);
/// \brief enable drawing of secondary mesh (if initialized)
void setRenderSecondaryMesh();
diff --git a/src/Simulators/StylusObject.cpp b/src/Simulators/StylusObject.cpp
index 8bc2162b7bf16d13e1d0dded77f8bd5decc462ce..94c13ee9e7e14ee3f7311061fc2c31d93dad7db2 100644
--- a/src/Simulators/StylusObject.cpp
+++ b/src/Simulators/StylusObject.cpp
@@ -22,22 +22,21 @@
//---------------------------------------------------------------------------
#include "StylusObject.h"
-#include "Core/CollisionModel.h"
#include "Collision/SurfaceTree.h"
#include "Collision/OctreeCell.h"
#include "Mesh/Mesh.h"
#include "Rendering/GLUtils.h"
-smStylusSceneObject::smStylusSceneObject(std::shared_ptr<smErrorLog>/*p_log*/) : smSceneObject()
+smStylusSceneObject::smStylusSceneObject(std::shared_ptr<ErrorLog>/*p_log*/) : SceneObject()
{
type = core::ClassType::StylusSceneObject;
toolEnabled = true;
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"StylusRenderDelegate"));
}
-smStylusRigidSceneObject::smStylusRigidSceneObject(std::shared_ptr<smErrorLog>/*p_log*/)
+smStylusRigidSceneObject::smStylusRigidSceneObject(std::shared_ptr<ErrorLog>/*p_log*/)
{
type = core::ClassType::StylusRigidSceneObject;
updateViewerMatrixEnabled = true;
@@ -47,7 +46,7 @@ smStylusRigidSceneObject::smStylusRigidSceneObject(std::shared_ptr<smErrorLog>/*
}
smStylusDeformableSceneObject::smStylusDeformableSceneObject(
- std::shared_ptr<smErrorLog>/*p_log*/)
+ std::shared_ptr<ErrorLog>/*p_log*/)
: smStylusSceneObject()
{
type = core::ClassType::StylusSeformableSceneObject;
@@ -84,13 +83,13 @@ smMeshContainer::smMeshContainer( std::string p_name )
offsetRotX = 0.0;
offsetRotY = 0.0;
offsetRotZ = 0.0;
- preOffsetPos = smVec3d::Zero();
- posOffsetPos = smVec3d::Zero();
+ preOffsetPos = core::Vec3d::Zero();
+ posOffsetPos = core::Vec3d::Zero();
mesh = NULL;
colModel = NULL;
}
-smMeshContainer::smMeshContainer( std::string p_name, smMesh */*p_mesh*/, smVec3d p_prePos, smVec3d p_posPos, float p_offsetRotX, float p_offsetRotY, float p_offsetRotZ )
+smMeshContainer::smMeshContainer( std::string p_name, smMesh */*p_mesh*/, core::Vec3d p_prePos, core::Vec3d p_posPos, float p_offsetRotX, float p_offsetRotY, float p_offsetRotZ )
{
offsetRotX = p_offsetRotX;
offsetRotY = p_offsetRotY;
@@ -103,20 +102,21 @@ smMeshContainer::smMeshContainer( std::string p_name, smMesh */*p_mesh*/, smVec3
void smMeshContainer::computeCurrentMatrix()
{
+ double pipi = 6.28318530717959;
Eigen::Affine3d preTranslate( Eigen::Translation3d( preOffsetPos[0], preOffsetPos[1], preOffsetPos[2] ) );
Eigen::Affine3d posTranslate( Eigen::Translation3d( posOffsetPos[0], posOffsetPos[1], posOffsetPos[2] ) );
- Eigen::Affine3d rx( Eigen::Affine3d( Eigen::AngleAxisd( SM_PI_TWO * offsetRotX, smVec3d::UnitX() ) ) );
- Eigen::Affine3d ry( Eigen::Affine3d( Eigen::AngleAxisd( SM_PI_TWO * offsetRotY, smVec3d::UnitY() ) ) );
- Eigen::Affine3d rz( Eigen::Affine3d( Eigen::AngleAxisd( SM_PI_TWO * offsetRotZ, smVec3d::UnitZ() ) ) );
+ Eigen::Affine3d rx( Eigen::Affine3d( Eigen::AngleAxisd( pipi * offsetRotX, core::Vec3d::UnitX() ) ) );
+ Eigen::Affine3d ry( Eigen::Affine3d( Eigen::AngleAxisd( pipi * offsetRotY, core::Vec3d::UnitY() ) ) );
+ Eigen::Affine3d rz( Eigen::Affine3d( Eigen::AngleAxisd( pipi * offsetRotZ, core::Vec3d::UnitZ() ) ) );
- smMatrix44d transform = ( preTranslate * rx * ry * rz * posTranslate ).matrix();
+ Matrix44d transform = ( preTranslate * rx * ry * rz * posTranslate ).matrix();
tempCurrentMatrix *= transform;
tempCurrentDeviceMatrix *= transform;
}
smStylusPoints::smStylusPoints()
{
- point = smVec3d::Zero();
+ point = core::Vec3d::Zero();
container = NULL;
}
@@ -128,7 +128,7 @@ void smStylusSceneObject::unSerialize( void */*p_memoryBlock*/ )
{
}
-void smStylusSceneObject::handleEvent(std::shared_ptr<mstk::Event::smEvent>/*p_event*/ ) {}
+void smStylusSceneObject::handleEvent(std::shared_ptr<mstk::Event::Event>/*p_event*/ ) {}
void smStylusRigidSceneObject::posTraverseCallBack()
{
}
@@ -179,9 +179,9 @@ tree< smMeshContainer * >::iterator smStylusRigidSceneObject::addMeshContainer(
return meshes.insert( p_iterator, p_meshContainer );
}
-void smStylusRigidSceneObject::handleEvent(std::shared_ptr<mstk::Event::smEvent>/*p_event*/ ) {}
+void smStylusRigidSceneObject::handleEvent(std::shared_ptr<mstk::Event::Event>/*p_event*/ ) {}
-std::shared_ptr<smSceneObject> smStylusRigidSceneObject::clone()
+std::shared_ptr<SceneObject> smStylusRigidSceneObject::clone()
{
// WARNING: What is the purpose of this function
std::shared_ptr<smStylusRigidSceneObject> ret = std::make_shared<smStylusRigidSceneObject>();
diff --git a/src/Simulators/StylusObject.h b/src/Simulators/StylusObject.h
index 5bdb9894c33c53c018fd796537505dd36d0a9dc9..01eaf6da22cdb09f404dcad59a6f6fe6d323a9db 100644
--- a/src/Simulators/StylusObject.h
+++ b/src/Simulators/StylusObject.h
@@ -34,33 +34,31 @@
#include "Core/Config.h"
#include "Mesh/Mesh.h"
#include "Core/SceneObject.h"
-#include "Core/Math.h"
#include "External/tree.hh"
namespace mstk {
namespace Event {
- class smEvent;
+ class Event;
class smEventHandler;
class smCameraEvent;
}
}
-template<typename T> class smCollisionModel;
-template<typename smSurfaceTreeCell> class smSurfaceTree;
-class smOctreeCell;
+template<typename SurfaceTreeCell> class SurfaceTree;
+class OctreeCell;
/// \brief !!
class smMeshContainer
{
public:
- using SurfaceTreeType = smSurfaceTree<smOctreeCell>;
+ using SurfaceTreeType = SurfaceTree<OctreeCell>;
public:
/// \brief constructor
smMeshContainer(std::string p_name = "");
/// \brief constructor
- smMeshContainer(std::string p_name, smMesh *p_mesh, smVec3d p_prePos, smVec3d p_posPos, float p_offsetRotX, float p_offsetRotY, float p_offsetRotZ);
+ smMeshContainer(std::string p_name, smMesh *p_mesh, core::Vec3d p_prePos, core::Vec3d p_posPos, float p_offsetRotX, float p_offsetRotY, float p_offsetRotZ);
void computeCurrentMatrix();
@@ -69,16 +67,16 @@ public:
float offsetRotX; // offset in rotation in x-direction
float offsetRotY; // offset in rotation in y-direction
float offsetRotZ; // offset in rotation in z-direction
- smVec3d preOffsetPos; // !!
- smVec3d posOffsetPos; // !!
- smMatrix44d accumulatedMatrix; // !!
- smMatrix44d accumulatedDeviceMatrix; // !!
-
- smMatrix44d currentMatrix; // !!
- smMatrix44d currentViewerMatrix; // !!
- smMatrix44d currentDeviceMatrix; // !!
- smMatrix44d tempCurrentMatrix; // !!
- smMatrix44d tempCurrentDeviceMatrix; // !!
+ core::Vec3d preOffsetPos; // !!
+ core::Vec3d posOffsetPos; // !!
+ Matrix44d accumulatedMatrix; // !!
+ Matrix44d accumulatedDeviceMatrix; // !!
+
+ Matrix44d currentMatrix; // !!
+ Matrix44d currentViewerMatrix; // !!
+ Matrix44d currentDeviceMatrix; // !!
+ Matrix44d tempCurrentMatrix; // !!
+ Matrix44d tempCurrentDeviceMatrix; // !!
smMesh * mesh; // mesh
std::shared_ptr<SurfaceTreeType> colModel; // octree of surface
};
@@ -89,16 +87,16 @@ struct smStylusPoints
/// \brief constructor
smStylusPoints();
- smVec3d point; // co-ordinates of points on stylus
+ core::Vec3d point; // co-ordinates of points on stylus
smMeshContainer *container; // !!
};
/// \brief stylus object of the scene (typically used for laparascopic VR simulations)
-class smStylusSceneObject: public smSceneObject
+class smStylusSceneObject: public SceneObject
{
public:
/// \brief constructor
- smStylusSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smStylusSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
/// \brief !!
virtual void serialize(void *p_memoryBlock) override;
@@ -107,14 +105,14 @@ public:
virtual void unSerialize(void *p_memoryBlock) override;
/// \brief handle the events such as button presses related to stylus
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
public:
- smVec3d pos; // position of stylus
- smVec3d vel; // velocity of stylus
- smMatrix33d rot; // rotation of stylus
- smMatrix44d transRot; // !! translation and rotation matrix of stylus
- smMatrix44d transRotDevice; // translation and rotation matrix of devide controlling the stylus
+ core::Vec3d pos; // position of stylus
+ core::Vec3d vel; // velocity of stylus
+ Matrix33d rot; // rotation of stylus
+ Matrix44d transRot; // !! translation and rotation matrix of stylus
+ Matrix44d transRotDevice; // translation and rotation matrix of devide controlling the stylus
bool toolEnabled; // !!
protected:
@@ -144,7 +142,7 @@ public:
bool posCallBackEnabledForEntireObject; // !!
/// \brief !!
- smStylusRigidSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smStylusRigidSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
/// \brief !!
tree<smMeshContainer*>::iterator addMeshContainer(smMeshContainer *p_meshContainer);
@@ -158,10 +156,10 @@ public:
/// \brief !!
smMeshContainer *getMeshContainer(std::string p_string) const;
- virtual void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ virtual void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief !!
- std::shared_ptr<smSceneObject> clone() override;
+ std::shared_ptr<SceneObject> clone() override;
/// \brief !!
virtual void initialize() override {};
@@ -192,7 +190,7 @@ class smStylusDeformableSceneObject: public smStylusSceneObject
{
public:
- smStylusDeformableSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smStylusDeformableSceneObject(std::shared_ptr<ErrorLog> p_log = nullptr);
~smStylusDeformableSceneObject(){};
@@ -219,7 +217,7 @@ public:
return (std::shared_ptr<void>)newSO;
}
- std::shared_ptr<smSceneObject> clone() override
+ std::shared_ptr<SceneObject> clone() override
{
// WARNING: What is the purpose of this function
std::shared_ptr<smStylusDeformableSceneObject> ret = std::make_shared<smStylusDeformableSceneObject>();
diff --git a/src/Simulators/ToolSimulator.cpp b/src/Simulators/ToolSimulator.cpp
index 15f68b58509ad0aec181a9b1e21a18c99dcffe23..4fd1fa75cdc87745507e9b9ad4791e4405e9919a 100644
--- a/src/Simulators/ToolSimulator.cpp
+++ b/src/Simulators/ToolSimulator.cpp
@@ -27,8 +27,8 @@
void smToolSimulator::updateTool(std::shared_ptr<smStylusRigidSceneObject> p_tool)
{
- smMatrix44d tempMat, tempMatDevice;
- smMatrix44d mat;
+ Matrix44d tempMat, tempMatDevice;
+ Matrix44d mat;
tree<smMeshContainer*>::pre_order_iterator iter = p_tool->meshes.begin();
//update the Root node first
iter.node->data->computeCurrentMatrix();
@@ -79,7 +79,7 @@ void smToolSimulator::updateTool(std::shared_ptr<smStylusRigidSceneObject> p_too
}
}
-smToolSimulator::smToolSimulator( std::shared_ptr<smErrorLog> p_errorLog ) : smObjectSimulator( p_errorLog )
+smToolSimulator::smToolSimulator( std::shared_ptr<ErrorLog> p_errorLog ) : ObjectSimulator( p_errorLog )
{
}
@@ -118,7 +118,7 @@ void smToolSimulator::syncBuffers()
{
}
-void smToolSimulator::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event )
+void smToolSimulator::handleEvent(std::shared_ptr<mstk::Event::Event> p_event )
{
if(!this->isListening())
{
diff --git a/src/Simulators/ToolSimulator.h b/src/Simulators/ToolSimulator.h
index 39a1fbd2d6719f2f58101854ebf0f2201c828dbd..be8279e3a8c33e3488f8d6388842c38bc56d3be5 100644
--- a/src/Simulators/ToolSimulator.h
+++ b/src/Simulators/ToolSimulator.h
@@ -32,12 +32,12 @@
/// \brief Example tool simulator
-class smToolSimulator: public smObjectSimulator
+class smToolSimulator: public ObjectSimulator
{
public:
/// \brief constructor
- smToolSimulator(std::shared_ptr<smErrorLog> p_errorLog);
+ smToolSimulator(std::shared_ptr<ErrorLog> p_errorLog);
/// \brief update everything related to tool
void updateTool(std::shared_ptr<smStylusRigidSceneObject> p_tool);
@@ -52,7 +52,7 @@ public:
void syncBuffers() override;
/// \brief handle the events such as button presses related to tool
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
};
#endif
diff --git a/src/Simulators/VegaFemSceneObject.cpp b/src/Simulators/VegaFemSceneObject.cpp
index 81a28939a8226df3918f8b70ae6b089f69644941..6f421233701903bc81f6a2fee9a41890c753bd53 100644
--- a/src/Simulators/VegaFemSceneObject.cpp
+++ b/src/Simulators/VegaFemSceneObject.cpp
@@ -42,11 +42,11 @@ smVegaFemSceneObject::smVegaFemSceneObject() :
this->name = "VegaFem_SceneObject_" + std::to_string(this->getUniqueId()->getId());
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"SceneObjectDeformableRenderDelegate"));
}
-smVegaFemSceneObject::smVegaFemSceneObject(const std::shared_ptr<smErrorLog> p_log,
+smVegaFemSceneObject::smVegaFemSceneObject(const std::shared_ptr<ErrorLog> p_log,
const std::string ConfigFile):
staticSolver(0),
graphicFrame(0),
@@ -63,7 +63,7 @@ smVegaFemSceneObject::smVegaFemSceneObject(const std::shared_ptr<smErrorLog> p_l
// Create the default delegate before configuration so it
// can be overridden.
this->setRenderDelegate(
- smFactory<smRenderDelegate>::createConcreteClass(
+ Factory<RenderDelegate>::createConcreteClass(
"SceneObjectDeformableRenderDelegate"));
ConfigFileName = ConfigFile;
@@ -77,9 +77,9 @@ smVegaFemSceneObject::~smVegaFemSceneObject()
{
}
-std::shared_ptr<smSceneObject> smVegaFemSceneObject::clone()
+std::shared_ptr<SceneObject> smVegaFemSceneObject::clone()
{
- return safeDownCast<smSceneObject>();
+ return safeDownCast<SceneObject>();
}
bool smVegaFemSceneObject::configure(const std::string ConfigFile)
@@ -1011,7 +1011,7 @@ inline void smVegaFemSceneObject::advanceOneTimeStep()
}
}
-void smVegaFemSceneObject::setPulledVertex(const smVec3d &userPos)
+void smVegaFemSceneObject::setPulledVertex(const core::Vec3d &userPos)
{
pulledVertex = this->volumetricMesh->getClosestVertex(Vec3d(userPos(0), userPos(1), userPos(2)));
}
@@ -1177,23 +1177,23 @@ void smVegaFemSceneObject::printInfo() const
std::cout << "\t-------------------------------------\n";
}
-smVec3d smVegaFemSceneObject::getVelocityOfNodeWithDofID(const int dofID) const
+core::Vec3d smVegaFemSceneObject::getVelocityOfNodeWithDofID(const int dofID) const
{
- smVec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
+ core::Vec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
return vel;
}
-smVec3d smVegaFemSceneObject::getDisplacementOfNodeWithDofID(const int dofID) const
+core::Vec3d smVegaFemSceneObject::getDisplacementOfNodeWithDofID(const int dofID) const
{
- smVec3d disp(u[dofID], u[dofID + 1], u[dofID + 2]);
+ core::Vec3d disp(u[dofID], u[dofID + 1], u[dofID + 2]);
return disp;
}
-smVec3d smVegaFemSceneObject::getAccelerationOfNodeWithDofID(const int dofID) const
+core::Vec3d smVegaFemSceneObject::getAccelerationOfNodeWithDofID(const int dofID) const
{
- smVec3d accn(uaccel[dofID], uaccel[dofID + 1], uaccel[dofID + 2]);
+ core::Vec3d accn(uaccel[dofID], uaccel[dofID + 1], uaccel[dofID + 2]);
return accn;
}
diff --git a/src/Simulators/VegaFemSceneObject.h b/src/Simulators/VegaFemSceneObject.h
index 2d682fc6c0f48051618577eca6534813d35f9174..1b01b90aec1f69dffd4db2061bdee6480ccc5d70 100644
--- a/src/Simulators/VegaFemSceneObject.h
+++ b/src/Simulators/VegaFemSceneObject.h
@@ -76,7 +76,7 @@ public:
smVegaFemSceneObject();
/// \brief Constructor
- smVegaFemSceneObject(const std::shared_ptr<smErrorLog> p_log, const std::string ConfigFile);
+ smVegaFemSceneObject(const std::shared_ptr<ErrorLog> p_log, const std::string ConfigFile);
/// \brief Destructor
~smVegaFemSceneObject();
@@ -146,19 +146,19 @@ public:
/// \brief check all the surface nodes for the closest node within
/// certain threshold and set it to be the pulled vertex
- void setPulledVertex(const smVec3d &userPos);
+ void setPulledVertex(const core::Vec3d &userPos);
/// \brief returns velocity given the
/// localtion in the global velocity vector
- smVec3d getVelocityOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getVelocityOfNodeWithDofID(const int dofID) const;
/// \brief returns displacement given the
/// localtion in the global displacement vector
- smVec3d getDisplacementOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getDisplacementOfNodeWithDofID(const int dofID) const;
/// \brief returns acceleration given the
/// localtion in the global acceleration vector
- smVec3d getAccelerationOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getAccelerationOfNodeWithDofID(const int dofID) const;
/// \brief returns the number of nodes
int getNumNodes() const;
@@ -186,10 +186,10 @@ public:
///every Scene Object should know how to clone itself.
/// Since the data structures will be
///in the beginning of the modules(such as simulator, viewer, collision etc.)
- //virtual std::shared_ptr<smSceneObject> clone() override { return nullptr; };
+ //virtual std::shared_ptr<SceneObject> clone() override { return nullptr; };
/// \brief not implemented yet.
- std::shared_ptr<smSceneObject> clone() override;
+ std::shared_ptr<SceneObject> clone() override;
private:
diff --git a/src/Simulators/VegaFemSimulator.cpp b/src/Simulators/VegaFemSimulator.cpp
index 6ef21b16b736396627183a0580c1d2b28a4125dd..59649067bff69a3ab8c92aebb8cc42444c1a8a37 100644
--- a/src/Simulators/VegaFemSimulator.cpp
+++ b/src/Simulators/VegaFemSimulator.cpp
@@ -24,7 +24,7 @@
// SimMedTK includes
#include "VegaFemSimulator.h"
-smVegaFemSimulator::smVegaFemSimulator( std::shared_ptr<smErrorLog> p_errorLog ) : smObjectSimulator( p_errorLog )
+smVegaFemSimulator::smVegaFemSimulator( std::shared_ptr<ErrorLog> p_errorLog ) : ObjectSimulator( p_errorLog )
{
hapticButtonPressed = false;
}
@@ -80,7 +80,7 @@ void smVegaFemSimulator::syncBuffers()
{
}
-void smVegaFemSimulator::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event )
+void smVegaFemSimulator::handleEvent(std::shared_ptr<mstk::Event::Event> p_event )
{
if (!this->isListening())
{
diff --git a/src/Simulators/VegaFemSimulator.h b/src/Simulators/VegaFemSimulator.h
index a0bbd213ae3210a63bf5ea36d76b631c3882781e..96513fd5873b046e173a365ed9424edcbde7e542 100644
--- a/src/Simulators/VegaFemSimulator.h
+++ b/src/Simulators/VegaFemSimulator.h
@@ -31,12 +31,12 @@
#include "VegaFemSceneObject.h"
/// \brief Interface class between Vega and SimMedTK core
-class smVegaFemSimulator: public smObjectSimulator
+class smVegaFemSimulator: public ObjectSimulator
{
public:
/// \brief constructor
- smVegaFemSimulator(std::shared_ptr<smErrorLog> p_errorLog);
+ smVegaFemSimulator(std::shared_ptr<ErrorLog> p_errorLog);
/// \brief start the job
virtual void beginSim() override;
@@ -54,10 +54,10 @@ public:
void syncBuffers() override;
/// \brief handle the keyboard and haptic button press events
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
private:
- smVec3d hapticPosition; ///< position of the haptic device end effector
+ core::Vec3d hapticPosition; ///< position of the haptic device end effector
bool hapticButtonPressed; ///< true of the button is pressed
};
diff --git a/src/Tools/curvedGrasper.cpp b/src/Tools/curvedGrasper.cpp
index af38fac7e82481fdc8346198f5e67466f32c690a..50b8b031022b60b70b29eeb723495c1dd26b1c3b 100644
--- a/src/Tools/curvedGrasper.cpp
+++ b/src/Tools/curvedGrasper.cpp
@@ -41,29 +41,29 @@ curvedGrasper::curvedGrasper(size_t p_PhantomID,
maxangle = 10 * 3.14 / 360;
this->phantomID = p_PhantomID;
- smMatrix33d rot;
+ Matrix33d rot;
mesh_pivot = new smSurfaceMesh(SMMESH_RIGID, NULL);
mesh_pivot->loadMesh(p_pivotModelFileName, SM_FILETYPE_3DS);
- mesh_pivot->scale(smVec3d(0.5, 0.5, 0.5));
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitX()).matrix();
+ mesh_pivot->scale(core::Vec3d(0.5, 0.5, 0.5));
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitX()).matrix();
mesh_pivot->rotate(rot);
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitZ()).matrix();
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitZ()).matrix();
mesh_pivot->rotate(rot);
mesh_upperJaw = new smSurfaceMesh(SMMESH_RIGID, NULL);
mesh_upperJaw->loadMesh(p_upperModelFileName, SM_FILETYPE_3DS);
- mesh_upperJaw->scale(smVec3d(0.5, 0.5, 0.5));
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitY()).matrix();
+ mesh_upperJaw->scale(core::Vec3d(0.5, 0.5, 0.5));
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitY()).matrix();
mesh_upperJaw->rotate(rot);
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitZ()).matrix();
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitZ()).matrix();
mesh_upperJaw->rotate(rot);
mesh_lowerJaw = new smSurfaceMesh(SMMESH_RIGID, NULL);
mesh_lowerJaw->loadMesh(p_lowerModelFileName, SM_FILETYPE_3DS);
- mesh_lowerJaw->scale(smVec3d(0.5, 0.5, 0.5));
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitY()).matrix();
+ mesh_lowerJaw->scale(core::Vec3d(0.5, 0.5, 0.5));
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitY()).matrix();
mesh_lowerJaw->rotate(rot);
- rot = Eigen::AngleAxisd(-SM_PI_HALF, smVec3d::UnitZ()).matrix();
+ rot = Eigen::AngleAxisd(-M_PI_2, core::Vec3d::UnitZ()).matrix();
mesh_lowerJaw->rotate(rot);
meshContainer_pivot.name = "curvedGrasperPivot";
@@ -84,7 +84,7 @@ curvedGrasper::curvedGrasper(size_t p_PhantomID,
DAQdataID = 0;
}
-void curvedGrasper::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event)
+void curvedGrasper::handleEvent(std::shared_ptr<mstk::Event::Event> p_event)
{
if(!this->isListening())
{
@@ -96,7 +96,7 @@ void curvedGrasper::handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event)
{
smMeshContainer *containerLower = this->getMeshContainer("curvedGrasperLower");
smMeshContainer *containerUpper = this->getMeshContainer("curvedGrasperUpper");
- smMatrix44d godPosMat = hapticEvent->getTransform();
+ Matrix44d godPosMat = hapticEvent->getTransform();
transRot = godPosMat;
pos = hapticEvent->getPosition();
vel = hapticEvent->getVelocity();
diff --git a/src/Tools/curvedGrasper.h b/src/Tools/curvedGrasper.h
index 6335e17bd175aa6646cf484a7fd4346f29714fc3..4c8553df7fac29633b69f43b8ff3c9e66c24c4fe 100644
--- a/src/Tools/curvedGrasper.h
+++ b/src/Tools/curvedGrasper.h
@@ -30,7 +30,7 @@
namespace mstk {
namespace Event {
- class smEvent;
+ class Event;
class smEventHandler;
class smCameraEvent;
}
@@ -47,7 +47,7 @@ public:
const std::string& p_upperModelFileName = "../../resources/models/curved_lower.3DS");
/// \brief event handler
- void handleEvent(std::shared_ptr<mstk::Event::smEvent> p_event) override;
+ void handleEvent(std::shared_ptr<mstk::Event::Event> p_event) override;
/// \brief for open and close motion
void updateOpenClose();
@@ -66,7 +66,7 @@ public:
#ifdef smNIUSB6008DAQ
smPipeRegisteration NIUSB6008pipeReg; //
#endif
- smVec3d godPos; // god object position
+ core::Vec3d godPos; // god object position
double godMat[9]; // god object matrix
int DAQdataID; // interface for DAQ
double minValue; // read min data value