diff --git a/examples/demo 1/CMakeLists.txt b/examples/demo 1/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f8d2289b0c67483df4ec86e5f703c8b5e61716d
--- /dev/null
+++ b/examples/demo 1/CMakeLists.txt
@@ -0,0 +1,9 @@
+
+add_executable(vegaFemExample main.cpp demo1.cpp demo1.h)
+target_link_libraries(demo1
+ smCore
+ smRendering
+ smSimulators
+ smMesh
+ smShader
+ )
diff --git a/examples/demo 1/demo1.cpp b/examples/demo 1/demo1.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..84d58139e620286053b2bcbf45f38409bce813e1
--- /dev/null
+++ b/examples/demo 1/demo1.cpp
@@ -0,0 +1,83 @@
+// 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 "vegaFemExample.h"
+
+/// \brief Create a scene with one fem object using vega library
+demo1Scene::demo1Scene()
+{
+ //Create an instance of the SoFMIS framework/SDK
+ sdk = smSDK::createSDK();
+
+ //Create a new scene to work in
+ scene = sdk->createScene();
+
+ //Create a viewer to see the scene
+ sdk->addViewer(&viewer);
+
+ //-------------------------------------------------------
+ // Create scene object 1: fem scene object
+ //-------------------------------------------------------
+
+ /// create a FEM simulator
+ femSim = new smVegaFemSimulator(sdk->getErrorLog());
+ sdk->registerObjectSim(femSim);
+
+ /// create a Vega based FEM object and attach it to the fem simulator
+ femobj = new smVegaFemSceneObject(sdk->getErrorLog(),
+ "../../../resources/vega/asianDragon/asianDragon.config");
+ femobj->attachObjectSimulator(femSim);
+
+ sdk->registerSceneObject(femobj);
+
+ //-------------------------------------------------------
+ // Create scene object 2: static plane
+ //-------------------------------------------------------
+
+ // Create dummy simulator
+ defaultSimulator = std::make_shared<smDummySimulator>(sdk->getErrorLog());
+ sdk->registerObjectSim(defaultSimulator);
+
+
+
+ /// add the FEM object to the scene
+ scene->addSceneObject(femobj);
+
+ /// create a simulator module and register FEM simulator
+ simulator = sdk->createSimulator();
+ simulator->registerObjectSimulator(femSim);
+
+ /// create a viewer
+ viewer.viewerRenderDetail = viewer.viewerRenderDetail | SIMMEDTK_VIEWERRENDER_FADEBACKGROUND;
+ viewer.setEventDispatcher(sdk->getEventDispatcher());
+
+ /// run the SDK
+ sdk->run();
+}
+
+void buildDemo1Scene()
+{
+ vegaFemExample *ve = new vegaFemExample();
+ delete ve;
+}
+
diff --git a/examples/demo 1/demo1.h b/examples/demo 1/demo1.h
new file mode 100644
index 0000000000000000000000000000000000000000..5043fbdaae3820a7644ce66f5d93c3ed6c27dbd6
--- /dev/null
+++ b/examples/demo 1/demo1.h
@@ -0,0 +1,50 @@
+// 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 "smCore/smConfig.h"
+#include "smCore/smErrorLog.h"
+#include "smCore/smCoreClass.h"
+#include "smCore/smSDK.h"
+#include "smRendering/smViewer.h"
+#include "smSimulators/smVegaFemSimulator.h"
+#include "smSimulators/smVegaFemSceneObject.h"
+
+class demo1Scene : public smSimulationMain, public smCoreClass
+{
+
+public:
+ demo1Scene();
+
+ virtual ~demo1Scene(){}
+ void simulateMain(smSimulationMainParam /*p_param*/) { };
+private:
+ std::unique_ptr<smSDK> sdk;
+ smVegaFemSceneObject *femobj;
+ smVegaFemSimulator *femSim;
+ smMatrix33d mat;
+ smSimulator *simulator;
+ smViewer viewer;
+ smScene *scene1;
+};
+
+void buildDemo1Scene();
diff --git a/examples/demo 1/main.cpp b/examples/demo 1/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d7549568c3df29785ff2b1b43cff751ef10731c
--- /dev/null
+++ b/examples/demo 1/main.cpp
@@ -0,0 +1,30 @@
+// 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 "vegaFemExample.h"
+
+int main()
+{
+ demo1();
+ return 0;
+}
diff --git a/include/smCollision/smMeshCollisionModel.h b/include/smCollision/smMeshCollisionModel.h
index 794e910fa985a8cd7b2507c9b65dbaea0e27ff91..50b7d74fc2f22a4ce560dba68e5b71e65bd95342 100644
--- a/include/smCollision/smMeshCollisionModel.h
+++ b/include/smCollision/smMeshCollisionModel.h
@@ -90,6 +90,19 @@ public:
///
std::array<smVec3d,3> getTrianglePositions(size_t i) const;
+ ///
+ /// @brief Returns array of vertices
+ ///
+ const smStdVector3d &getVertices() const
+ {
+ return mesh->getVertices();
+ }
+
+ void draw() override
+ {
+ this->mesh->draw();
+ }
+
private:
std::shared_ptr<smMesh> mesh; // Underlying mesh
std::shared_ptr<AABBTreeType> aabbTree; // Bounding volume hierarchy
diff --git a/include/smCollision/smPlaneCollisionModel.h b/include/smCollision/smPlaneCollisionModel.h
new file mode 100644
index 0000000000000000000000000000000000000000..69c2a44d6f798a3491edf07f3a61468ed654c5ac
--- /dev/null
+++ b/include/smCollision/smPlaneCollisionModel.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright 2015 Ricardo Ortiz <email>
+ *
+ * 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.
+ *
+ */
+
+#ifndef SMPLANECOLLISIONMODEL_H
+#define SMPLANECOLLISIONMODEL_H
+
+#include <memory>
+
+#include "smCore/smGeometry.h"
+#include "smCore/smModelRepresentation.h"
+
+class smPlane;
+
+class smPlaneCollisionModel : public smModelRepresentation
+{
+public:
+ using RigidTransform = Eigen::Transform<double, 2, Eigen::Isometry>;
+
+public:
+ smPlaneCollisionModel(const smVec3d &p, const smVec3d &n);
+
+ ~smPlaneCollisionModel();
+
+ void draw() override;
+
+ const smVec3d &getNormal() const;
+
+ void setNormal(const smVec3d &normal);
+
+ const smVec3d &getPosition() const;
+
+ const RigidTransform &getTransform() const;
+
+ void setTransform(const RigidTransform &t);
+
+private:
+ std::shared_ptr<smPlane> plane;
+ RigidTransform transform;
+};
+
+#endif // SMPLANECOLLISIONMODEL_H_H
diff --git a/include/smCollision/smPlaneToMeshCollision.h b/include/smCollision/smPlaneToMeshCollision.h
index b3338d5f0f92a451953382a4f66fffe3e34b6894..27b68b0a56b9413c4626b7bc63ac9cc9ba0be2d6 100644
--- a/include/smCollision/smPlaneToMeshCollision.h
+++ b/include/smCollision/smPlaneToMeshCollision.h
@@ -27,7 +27,6 @@
// SimMedTK includes
#include "smCollision/smCollisionDetection.h"
-#include "smCore/smGeometry.h"
class smCollisionPair;
@@ -43,7 +42,6 @@ public:
smPlaneToMeshCollision(const smPlaneToMeshCollision &) = delete;
private:
- smPlane plane;
virtual void doComputeCollision(std::shared_ptr<smCollisionPair> pairs) override;
};
diff --git a/include/smContactHandling/smContactConfig.h b/include/smContactHandling/smContactConfig.h
index 7d593ced77814f0f05ed57fa3aea5c2205c34221..5da5216191bb13e07be42e02ca7690e52851fd5a 100644
--- a/include/smContactHandling/smContactConfig.h
+++ b/include/smContactHandling/smContactConfig.h
@@ -24,15 +24,4 @@
#ifndef SMCONTACTHANDLINGCONFIG_H
#define SMCONTACTHANDLINGCONFIG_H
-enum class smContactHandlingType
-{
- SIMMEDTK_CONTACT_PENALTY_UNILATERAL,
- SIMMEDTK_CONTACT_PENALTY_BILATERAL,
- SIMMEDTK_CONTACT_PBD_UNILATERAL,
- SIMMEDTK_CONTACT_PBD_BILATERAL,
- SIMMEDTK_CONTACT_LPC_UNILATERAL,
- SIMMEDTK_CONTACT_LCP_UNILATERAL,
- SIMMEDTK_CONTACT_LCP_BILATERAL
-};
-
#endif
diff --git a/include/smContactHandling/smContactHandling.h b/include/smContactHandling/smContactHandling.h
index 6e06a7ea506792ce30723d9ff567c783354792cf..9004fad823492ee8d001543e2daa4e8a92f2f87b 100644
--- a/include/smContactHandling/smContactHandling.h
+++ b/include/smContactHandling/smContactHandling.h
@@ -61,6 +61,16 @@ public:
void setSceneObjects(const std::shared_ptr< smSceneObject >& first,
const std::shared_ptr< smSceneObject >& second);
+ ///
+ /// @brief Set the scene objects that are colliding
+ ///
+ void setCollisionPairs(const std::shared_ptr< smCollisionPair >& colPair);
+
+ ///
+ /// @brief Get how the contact between scene objects is processed
+ ///
+ std::shared_ptr<smCollisionPair> getCollisionPairs() const;
+
///
/// @brief Get how the contact between scene objects is processed
///
@@ -76,16 +86,18 @@ public:
///
std::shared_ptr<smSceneObject> getSecondSceneObject() const;
+ ///
+ /// @brief Implementation of how the contacts between colliding objects is resolved
+ ///
+ virtual void resolveContacts() = 0;
protected:
smContactHandlingType contactHandlingType;
- std::pair<std::shared_ptr<smSceneObject>, std::shared_ptr<smSceneObject>> collidingSceneObjects;
+ std::pair<std::shared_ptr<smSceneObject>, std::shared_ptr<smSceneObject>> collidingSceneObjects;
+
+ std::shared_ptr<smCollisionPair> collisionPairs;
- ///
- /// @brief Implementation of how the contacts between colliding objects is resolved
- ///
- virtual void processContacts(std::shared_ptr<smCollisionPair> pairs)=0;
};
diff --git a/include/smContactHandling/smPenaltyContactHandling.h b/include/smContactHandling/smPenaltyContactHandling.h
index 8442cbc9f47a43d5b0c559f18a07f76bd6521c5d..a6292368ded4f8ec67ae6ca81349cb97b852e450 100644
--- a/include/smContactHandling/smPenaltyContactHandling.h
+++ b/include/smContactHandling/smPenaltyContactHandling.h
@@ -49,12 +49,12 @@ private:
///
/// @brief Get the forces on one the first scene object using penalty method
///
- void computeUnilateralContactForces(std::shared_ptr<smCollisionPair> pairs);
+ void computeUnilateralContactForces();
///
/// @brief Get the forces on both the scene objects using penalty method
///
- void computeBilateralContactForces(std::shared_ptr<smCollisionPair> pairs);
+ void computeBilateralContactForces();
};
diff --git a/include/smCore/smCoreClass.h b/include/smCore/smCoreClass.h
index b086d9e526feddbd9a34bfd9a581715be746df64..8344f55a3b4df9360d8ba96d1183b636cb16919a 100644
--- a/include/smCore/smCoreClass.h
+++ b/include/smCore/smCoreClass.h
@@ -117,6 +117,11 @@ public:
///
virtual void draw(const smDrawParam &p_params);
+ ///
+ /// \brief draw function is called for visualization the object
+ ///
+ virtual void draw();
+
///
/// \brief initialization of simulation
///
diff --git a/include/smCore/smGeometry.h b/include/smCore/smGeometry.h
index baae07492efb0362d9a4d1842ce2d916d456deda..54df944616640ee1a1c5452c0399fc6137d7168d 100644
--- a/include/smCore/smGeometry.h
+++ b/include/smCore/smGeometry.h
@@ -27,16 +27,37 @@
// SimMedTK includes
#include "smCore/smConfig.h"
#include "smUtilities/smVector.h"
+#include "smUtilities/smMatrix.h"
//forward declaration
struct smSphere;
+class smAnalyticalGeometry
+{
+public:
+ smAnalyticalGeometry(){}
+ ~smAnalyticalGeometry(){}
+
+ virtual void translate(const smVec3d t)=0;
+ virtual void rotate(const smMatrix33d &rot)=0;
+
+ virtual void draw()=0;
+};
+
/// \brief Simple Plane definition with unit normal and spatial location
-class smPlane
-{
+class smPlane : public smAnalyticalGeometry
+{
public:
smPlane(){}
~smPlane(){}
+
+ /// \brief sphere constructor with center and radius
+ smPlane(const smVec3d &p, const smVec3d &n)
+ {
+ this->point = p;
+ this->unitNormal = n;
+ }
+
double distance(const smVec3d &p_vector)
{
auto m = (p_vector-point).dot(unitNormal);
@@ -47,32 +68,149 @@ public:
{
return p_vector-((point-p_vector)*unitNormal.transpose())*unitNormal;
};
-
+
const smVec3d &getUnitNormal() const
{
return this->unitNormal;
}
-
+
void setUnitNormal(const smVec3d &normal)
{
this->unitNormal = normal;
}
-
+
const smVec3d &getPoint() const
{
return this->point;
}
-
+
void setPoint(const smVec3d &p)
{
this->point = p;
}
-
+
+ void translate(const smVec3d t)
+ {
+ point += t;
+ }
+
+ void rotate(const smMatrix33d &rot)
+ {
+ unitNormal = rot * unitNormal;
+ }
+
+ void draw()
+ {
+ // add plane rendering here
+ }
+
private:
smVec3d unitNormal;
smVec3d point;
};
+
+/// \brief sphere with center and radius
+class smSphere : public smAnalyticalGeometry
+{
+public:
+ /// \brief constructor
+ smSphere();
+
+ /// \brief sphere constructor with center and radius
+ smSphere(const smVec3d &c, const double &r)
+ {
+ this->center = c;
+ this->radius = r;
+ }
+
+ ~smSphere();
+
+ void setRadius(const double r)
+ {
+ this->radius = r;
+ }
+
+ void setCenter(const smVec3d& c)
+ {
+ this->center = c;
+ }
+
+ void incrementRadius(const double r)
+ {
+ this->radius += r;
+ }
+
+ void translate(const smVec3d t)
+ {
+ center += t;
+ }
+
+ void rotate(const smMatrix33d &rot)
+ {
+ //Its a sphere! nothing to be done.
+ }
+
+ void draw()
+ {
+ // add sphere rendering here
+ }
+
+ double getRadius() const
+ {
+ return this->radius;
+ }
+
+ const smVec3d &getCenter() const
+ {
+ return this->center;
+ }
+
+private:
+ /// \brief center of sphere
+ smVec3d center;
+
+ /// \brief radius of sshere
+ double radius;
+};
+
+/// \brief cube
+struct smCube
+{
+ /// \brief cube center
+ smVec3d center;
+
+ /// \brief cube length
+ double sideLength;
+
+ /// \brief constructor
+ smCube();
+
+ /// \brief subdivides the cube in mulitple cube with given number of cubes identified for each axis with p_divisionPerAxis
+ void subDivide(smInt p_divisionPerAxis, smCube *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 ;
+
+ /// \brief returns right most corner
+ smVec3d rightMaxCorner() const;
+
+ /// \brief returns the smallest sphere encapsulates the cube
+ smSphere getCircumscribedSphere();
+
+ /// \brief returns the sphere with half edge of the cube as a radius
+ smSphere getInscribedSphere();
+
+ /// \brief get tangent sphere
+ smSphere getTangent2EdgeSphere();
+};
+
+
+
+
/// \brief Axis Aligned bounding box declarions
class smAABB
{
@@ -180,56 +318,4 @@ public:
}
};
-/// \brief sphere structure
-struct smSphere
-{
-
-public:
- /// \brief center of sphere
- smVec3d center;
-
- /// \brief radius of sshere
- double radius;
-
- /// \brief constructor
- smSphere();
-
- /// \brief sphere constructor with center and radius
- smSphere(smVec3d p_center, double p_radius);
-};
-
-/// \brief cube
-struct smCube
-{
- /// \brief cube center
- smVec3d center;
-
- /// \brief cube length
- double sideLength;
-
- /// \brief constructor
- smCube();
-
- /// \brief subdivides the cube in mulitple cube with given number of cubes identified for each axis with p_divisionPerAxis
- void subDivide(smInt p_divisionPerAxis, smCube *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 ;
-
- /// \brief returns right most corner
- smVec3d rightMaxCorner() const;
-
- /// \brief returns the smallest sphere encapsulates the cube
- smSphere getCircumscribedSphere();
-
- /// \brief returns the sphere with half edge of the cube as a radius
- smSphere getInscribedSphere();
-
- /// \brief get tangent sphere
- smSphere getTangent2EdgeSphere();
-};
-
#endif
diff --git a/include/smCore/smModelRepresentation.h b/include/smCore/smModelRepresentation.h
index a8424c1ab8103c7e1ea9cc80add5febf238050c4..30725a38ee728b33dc621a77e8398e1c0a798a54 100644
--- a/include/smCore/smModelRepresentation.h
+++ b/include/smCore/smModelRepresentation.h
@@ -29,6 +29,10 @@
// STL includes
#include <memory>
+// SimMedTK includes
+#include "smCore/smCoreClass.h"
+#include "smMesh/smMesh.h"
+
class smMesh;
class smModelRepresentation
@@ -38,6 +42,9 @@ public:
~smModelRepresentation(){}
virtual std::shared_ptr<smMesh> getMesh() = 0;
+ virtual std::shared_ptr<smCoreClass> getObject() = 0;
+
+ virtual void draw() = 0;
};
#endif // SMMODELREPRESENTATION_H
diff --git a/include/smCore/smSimulator.h b/include/smCore/smSimulator.h
index 3ec277e9981600727ebf2bb3a1033ad62cd47637..b49d932450b6b6c1436703db9a37a34df6763c08 100644
--- a/include/smCore/smSimulator.h
+++ b/include/smCore/smSimulator.h
@@ -36,6 +36,7 @@
#include "smUtilities/smMakeUnique.h"
#include "smUtilities/smMakeUnique.h"
#include "smCollision/smCollisionDetection.h"
+#include "smContactHandling/smContactHandling.h"
struct smSimulationMainParam
{
@@ -96,6 +97,7 @@ 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::unique_ptr<ThreadPool> threadPool; //
std::unique_ptr<ThreadPool> asyncPool; // asynchronous thread pool
diff --git a/include/smCore/smStaticSceneObject.h b/include/smCore/smStaticSceneObject.h
index b565e2099a258fe834131744121ca405464943e9..27f1e2d955b2e72c2a04449cbfd976764429d0dd 100644
--- a/include/smCore/smStaticSceneObject.h
+++ b/include/smCore/smStaticSceneObject.h
@@ -26,6 +26,7 @@
// SimMedTK includes
#include "smCore/smConfig.h"
+#include "smCore/smModelRepresentation.h"
#include "smCore/smSceneObject.h"
#include "smMesh/smSurfaceMesh.h"
#include "smCore/smCoreClass.h"
@@ -62,15 +63,19 @@ public:
virtual void handleEvent(std::shared_ptr<smtk::Event::smEvent>) override {}
- void setMesh(std::shared_ptr<smMesh> surfaceMesh)
+ void setModel(std::shared_ptr<smModelRepresentation> model)
{
- mesh = std::static_pointer_cast<smSurfaceMesh>(surfaceMesh);
- mesh->meshType = SMMESH_RIGID;
+ this->staticModel = model;
+ }
+
+ std::shared_ptr<smModelRepresentation> getModel()
+ {
+ return staticModel;
}
public:
/// \brief static scene object contains a mesh
- std::shared_ptr<smSurfaceMesh> mesh;
+ std::shared_ptr<smModelRepresentation> staticModel;
};
#endif
diff --git a/include/smMesh/smMesh.h b/include/smMesh/smMesh.h
index 5d6f31247735cb80c67473977da6cd640e04ed20..9b4ef1d912f3ab1c51a004d8058ade855f9c2056 100644
--- a/include/smMesh/smMesh.h
+++ b/include/smMesh/smMesh.h
@@ -94,6 +94,11 @@ public:
/// \brief update the original texture vertices with the current
void updateOriginalVertsWithCurrent();
+ const smStdVector3d &getVertices() const
+ {
+ return this->vertices;
+ }
+
public:
smCollisionGroup collisionGroup; ///< !!
smGLInt renderingID; ///< !!
@@ -197,6 +202,12 @@ public:
/// \brief render the surface mesh
virtual void draw(const smDrawParam &p_params) override;
+ /// \brief render the surface mesh
+ virtual void draw() override
+ {
+
+ }
+
public:
smInt nbrTriangles; ///< number of triangles
smTriangle *triangles; ///< list of triangles
diff --git a/src/smCollision/smPlaneCollisionModel.cpp b/src/smCollision/smPlaneCollisionModel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0f2f20454433c72924f626ecf4e5a2112467bd32
--- /dev/null
+++ b/src/smCollision/smPlaneCollisionModel.cpp
@@ -0,0 +1,48 @@
+/*
+ * Copyright 2015 Ricardo Ortiz <email>
+ *
+ * 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.
+ *
+ */
+
+#include "smCollision/smPlaneCollisionModel.h"
+
+smPlaneCollisionModel::smPlaneCollisionModel(const smVec3d& p, const smVec3d& n) : plane(std::make_shared<smPlane>(p, n))
+{
+
+}
+smPlaneCollisionModel::~smPlaneCollisionModel() {}
+void smPlaneCollisionModel::draw()
+{
+ this->plane->draw();
+}
+const smVec3d& smPlaneCollisionModel::getNormal() const
+{
+ return this->transform.linear() * this->plane->getUnitNormal();
+}
+void smPlaneCollisionModel::setNormal(const smVec3d& normal)
+{
+ this->plane->setUnitNormal(normal);
+}
+const smVec3d& smPlaneCollisionModel::getPosition() const
+{
+ return this->transform * this->plane->getPoint();
+}
+const smPlaneCollisionModel::RigidTransform& smPlaneCollisionModel::getTransform() const
+{
+ return this->transform;
+}
+void smPlaneCollisionModel::setTransform(const smPlaneCollisionModel::RigidTransform& t)
+{
+ this->transform = t;
+}
diff --git a/src/smCollision/smPlaneToMeshCollision.cpp b/src/smCollision/smPlaneToMeshCollision.cpp
index 61fe006689a65d6aa5b22c5c6a2321913cc61607..0c83363a8b6cd2ef641effdf56769a439c988998 100644
--- a/src/smCollision/smPlaneToMeshCollision.cpp
+++ b/src/smCollision/smPlaneToMeshCollision.cpp
@@ -21,85 +21,35 @@
// Contact:
//---------------------------------------------------------------------------
-// SimMedTK includes
#include "smCollision/smPlaneToMeshCollision.h"
+
+// SimMedTK includes
#include "smCollision/smCollisionMoller.h"
#include "smCollision/smCollisionPair.h"
#include "smCollision/smMeshCollisionModel.h"
+#include "smCollision/smPlaneCollisionModel.h"
// STL includes
-#include <vector>
+#include <limits>
-void smPlaneToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair> pairs)
+void smPlaneToMeshCollision::doComputeCollision(std::shared_ptr<smCollisionPair> pair)
{
- auto mesh = std::static_pointer_cast<smMeshCollisionModel>(pairs->getFirst());
- auto plane = std::static_pointer_cast<smpPlaneCollisionModel>(pairs->getFirst());
+ auto mesh = std::static_pointer_cast<smMeshCollisionModel>(pair->getFirst());
+ auto plane = std::static_pointer_cast<smPlaneCollisionModel>(pair->getFirst());
if(!mesh || !plane)
return;
-
- int nodeID;
- double depth;
- smVec3d normal;
- smVec3d contactPoint;
-
-/*
- for (int i=0; i<collisionModel->getMesh()-> ; i++)
- {
-
- }*/
-
-}
-
-std::vector<std::pair<std::shared_ptr<CellType>,std::shared_ptr<CellType>>>
- getIntersectingNodes(std::shared_ptr<smSurfaceTree<CellType>> otherTree)
- {
- std::vector<std::pair<std::shared_ptr<CellType>,std::shared_ptr<CellType>>> intersectingNodes;
- getIntersectingNodes(root, otherTree->getRoot(),intersectingNodes);
- return intersectingNodes;
- }
-
- void getIntersectingNodes(const std::shared_ptr<CellType> left,
- const std::shared_ptr<smpPlaneCollisionModel> right,
- std::vector<std::pair<std::shared_ptr<CellType>>> &result )
+ smVec3d planeNormal = plane->getNormal();
+ float planeOffset = planeNormal.dot(plane->getPosition());
+ for (const auto& vertex : mesh->getVertices())
{
- if(!smCollisionMoller::checkOverlapAABBAABB(left->getAabb(),right->getAabb()))
+ double d = planeNormal.dot(vertex) - planeOffset;
+ if (d < std::numeric_limits<float>::epsilon())
{
- return;
+ // Create contact
+ pair->addContact(-d, vertex, planeNormal);
}
-
- if(left->getIsLeaf() && right->getIsLeaf())
- {
- result.emplace_back(left,right);
- }
- else if(left->getIsLeaf())
- {
- for(const auto &child : right->getChildNodes())
- {
- if(!child) continue;
- getIntersectingNodes(left,child,result);
- }
- }
- else if(right->getIsLeaf())
- {
- for(const auto &child : left->getChildNodes())
- {
- if(!child) continue;
- getIntersectingNodes(child,right,result);
- }
- }
- else
- {
- for(const auto &rightChild : right->getChildNodes())
- {
- if(!rightChild) continue;
- for(const auto &leftChild : left->getChildNodes())
- {
- if(!leftChild) continue;
- getIntersectingNodes(leftChild,rightChild,result);
- }
- }
- }
-
}
+
+}
diff --git a/src/smCollision/smSpatialHashCollision.cpp b/src/smCollision/smSpatialHashCollision.cpp
index a258ccfdd41356ac9873c86f8888dbeafbef3061..120c82a470bf6c34c164b907c8bb6ae92f56591f 100644
--- a/src/smCollision/smSpatialHashCollision.cpp
+++ b/src/smCollision/smSpatialHashCollision.cpp
@@ -396,7 +396,7 @@ void smSpatialHashCollision::addOctreeCell(std::shared_ptr<smSpatialHashCollisio
cellModel.primID = i;
cellModel.center = iter[i].getCube().center;
- cellModel.radius = iter[i].getCube().getCircumscribedSphere().radius;
+ cellModel.radius = iter[i].getCube().getCircumscribedSphere().getRadius();
for (smInt ix = xStartIndex; ix <= xEndIndex; ix++)
for (smInt iy = yStartIndex; iy <= yEndIndex; iy++)
diff --git a/src/smContactHandling/smContactHandling.cpp b/src/smContactHandling/smContactHandling.cpp
index 02d17d8f410c54e418cabcced65a83276236bbad..b58a11876f25c90d1213f4664f59d7dad14f798b 100644
--- a/src/smContactHandling/smContactHandling.cpp
+++ b/src/smContactHandling/smContactHandling.cpp
@@ -21,26 +21,37 @@
// Contact:
//---------------------------------------------------------------------------
-#include "smConstacHangling/smContactHandling.h"
+#include "smContactHandling/smContactHandling.h"
void smContactHandling::setSceneObjects(const std::shared_ptr< smSceneObject >& first,
const std::shared_ptr< smSceneObject >& second)
{
- collidingSceneObjects.first = first;
- collidingSceneObjects.second = second;
+ this->collidingSceneObjects.first = first;
+ this->collidingSceneObjects.second = second;
}
+void setCollisionPairs(const std::shared_ptr< smCollisionPair >& colPair)
+{
+ this->collisionPairs = colPair;
+}
+
+std::shared_ptr<smCollisionPair> getCollisionPairs() const
+{
+ return this->collisionPairs;
+}
+
+
smContactHandlingType smContactHandling::getContactHandlingType()
{
- return contactHandlingType;
+ return this->contactHandlingType;
}
std::shared_ptr<smSceneObject> smContactHandling::getFirstSceneObject()
{
- return collidingSceneObjects.first;
+ return this->collidingSceneObjects.first;
}
std::shared_ptr<smSceneObject> smContactHandling::getSecondSceneObject()
{
- return collidingSceneObjects.second;
+ return this->collidingSceneObjects.second;
}
diff --git a/src/smContactHandling/smPenaltyContactHandling.cpp b/src/smContactHandling/smPenaltyContactHandling.cpp
index 01bbaa82b5a4d2e7b1dd0fc105ff54ad77e45746..a03fb3218cc93920216c322ec84ac8f2d81f8971 100644
--- a/src/smContactHandling/smPenaltyContactHandling.cpp
+++ b/src/smContactHandling/smPenaltyContactHandling.cpp
@@ -45,30 +45,30 @@ smPenaltyCollisionHandling(smContactHandlingType contactHandlingType,
this->collidingSceneObjects.second = sceneObjSecond;
}
-smContactHandlingType smPenaltyCollisionHandling::getContactHandlingType()
+smContactHandlingType smPenaltyCollisionHandling::getContactHandlingType()
{
return contactHandlingType;
}
-void smPenaltyCollisionHandling::processContacts(std::shared_ptr<smCollisionPair> pairs)
+void smPenaltyCollisionHandling::processContacts()
{
if (typeBilateral)
{
- computeUnilateralContactForces(std::shared_ptr<smCollisionPair> pairs);
+ computeUnilateralContactForces();
}
else
{
- computeBilateralContactForces(std::shared_ptr<smCollisionPair> pairs);
+ computeBilateralContactForces();
}
}
-void smPenaltyCollisionHandling::computeUnilateralContactForces(std::shared_ptr<smCollisionPair> pairs)
+void smPenaltyCollisionHandling::computeUnilateralContactForces()
{
int penetratedNode, nodeDofID;
const double stiffness=1.0e5, damping=2000.0;
smVec3d velocityProjection;
- std::vector<std::shared_ptr<smContact>> contactInfo = pairs->getContacts();
+ std::vector<std::shared_ptr<smContact>> contactInfo = this->getCollisionPairs()->getContacts();
if( this->getFirstSceneObject()->getType() == SIMMEDTK_SMVEGAFEMSCENEOBJECT
&& this->getSecondSceneObject()->getType() == SIMMEDTK_SMSTATICSCENEOBJECT)
@@ -77,7 +77,7 @@ void smPenaltyCollisionHandling::computeUnilateralContactForces(std::shared_ptr<
femSceneObject->setContactForcesToZero();
- for (int i = 0; i < pairs->size(); i++)
+ for (int i = 0; i < this->getCollisionPairs()->size(); i++)
{
nodeDofID = 3*contactInfo->nodeIndex;
@@ -95,7 +95,7 @@ void smPenaltyCollisionHandling::computeUnilateralContactForces(std::shared_ptr<
}
-void smPenaltyCollisionHandling::computeBilateralContactForces(std::shared_ptr<smCollisionPair> pairs)
+void smPenaltyCollisionHandling::computeBilateralContactForces()
{
diff --git a/src/smCore/smGeometry.cpp b/src/smCore/smGeometry.cpp
index b727c278e535044dcf3aaa2d28e9fdc5b9d9ff2b..0715f2943f36cee093c8664cc8ff235dcefd40e3 100644
--- a/src/smCore/smGeometry.cpp
+++ b/src/smCore/smGeometry.cpp
@@ -147,12 +147,6 @@ smSphere::smSphere()
radius = 1.0;
}
-smSphere::smSphere( smVec3d p_center, double p_radius )
-{
- radius = p_radius;
- center = p_center;
-}
-
smCube::smCube()
{
center << 0, 0, 0;
diff --git a/src/smCore/smSimulator.cpp b/src/smCore/smSimulator.cpp
index 223f1eeb7242a99508e3fb7ed554223ccc9fe36c..68af748bac565021e8e2fff622546d02f7d901ed 100644
--- a/src/smCore/smSimulator.cpp
+++ b/src/smCore/smSimulator.cpp
@@ -155,6 +155,14 @@ void smSimulator::run()
}
}
+ results.clear(); //clear the results buffer for new
+ std::shared_ptr<smContactHandling> contactHandling;
+ for (size_t i = 0; i < this->contactHandlers.size(); i++)
+ {
+ contactHandlers[i]->resolveContacts();
+ }
+
+
for (auto&& result : results)
{ //Wait until there is a valid return value from each thread
result.get(); //waits for result value
diff --git a/src/smCore/smStaticSceneObject.cpp b/src/smCore/smStaticSceneObject.cpp
index e20920d22e47c5ad81e01385c53ef76999f45375..0d2a3b9457ae9c206ceae6123318872d5f12fb26 100644
--- a/src/smCore/smStaticSceneObject.cpp
+++ b/src/smCore/smStaticSceneObject.cpp
@@ -26,7 +26,6 @@
smStaticSceneObject::smStaticSceneObject ( std::shared_ptr<smErrorLog> p_log )
{
type = SIMMEDTK_SMSTATICSCENEOBJECT;
- mesh = std::make_shared<smSurfaceMesh>( SMMESH_RIGID, p_log );
}
smStaticSceneObject::~smStaticSceneObject() {}
void smStaticSceneObject::init() {}
@@ -35,8 +34,7 @@ void smStaticSceneObject::serialize ( void* /*p_memoryBlock*/ ) {}
void smStaticSceneObject::draw(const smDrawParam &p_params)
{
-// p_params.caller = this;
- mesh->draw(p_params);
+ staticModel->draw();
}
std::shared_ptr<smSceneObject> smStaticSceneObject::clone()
diff --git a/src/smSimulators/smDummySimulator.cpp b/src/smSimulators/smDummySimulator.cpp
index 908688972811f1626b98e4c4c61877966c3db327..989af0b45076cbf9196eabd3917eea59d7b725c1 100644
--- a/src/smSimulators/smDummySimulator.cpp
+++ b/src/smSimulators/smDummySimulator.cpp
@@ -26,6 +26,7 @@
#include "smCore/smStaticSceneObject.h"
#include "smEvent/smEvent.h"
#include "smEvent/smKeyboardEvent.h"
+#include "smCollision/smMeshCollisionModel.h"
smDummySimulator::smDummySimulator( std::shared_ptr<smErrorLog> p_errorLog ) : smObjectSimulator( p_errorLog )
{
@@ -46,9 +47,16 @@ void smDummySimulator::initCustom()
case SIMMEDTK_SMSTATICSCENEOBJECT:
{
auto staticObject = std::static_pointer_cast<smStaticSceneObject>(object);
- object->getLocalVertices().reserve( staticObject->mesh->nbrVertices );
+ auto model = std::static_pointer_cast<smMeshCollisionModel>(staticObject->getModel());
+ if(nullptr == model)
+ {
+ break;
+ }
+ std::shared_ptr<smMesh> mesh = model->getMesh();
+
+ object->getLocalVertices().reserve( mesh->nbrVertices );
// WARNING: Copy!!?
- object->getLocalVertices() = staticObject->mesh->vertices;
+ object->getLocalVertices() = mesh->vertices;
object->getFlags().isSimulatorInit = true;
break;
}
@@ -70,9 +78,14 @@ void smDummySimulator::run()
if ( sceneObj->getType() == SIMMEDTK_SMSTATICSCENEOBJECT )
{
auto staticSceneObject = std::static_pointer_cast<smStaticSceneObject>(sceneObj);
- auto mesh = staticSceneObject->mesh;
+ auto model = std::static_pointer_cast<smMeshCollisionModel>(staticSceneObject->getModel());
+ if(nullptr == model)
+ {
+ break;
+ }
+ std::shared_ptr<smMesh> mesh = model->getMesh();
- for ( smInt vertIndex = 0; vertIndex < staticSceneObject->mesh->nbrVertices; vertIndex++ )
+ for ( smInt vertIndex = 0; vertIndex < mesh->nbrVertices; vertIndex++ )
{
staticSceneObject->getLocalVertices()[vertIndex][1] = staticSceneObject->getLocalVertices()[vertIndex][1] + 0.000001;
}
@@ -95,7 +108,12 @@ void smDummySimulator::syncBuffers()
if ( sceneObj->getType() == SIMMEDTK_SMSTATICSCENEOBJECT )
{
auto staticSceneObject = std::static_pointer_cast<smStaticSceneObject>(sceneObj);
- auto mesh = staticSceneObject->mesh;
+ auto model = std::static_pointer_cast<smMeshCollisionModel>(staticSceneObject->getModel());
+ if(nullptr == model)
+ {
+ break;
+ }
+ std::shared_ptr<smMesh> mesh = model->getMesh();
// WARNING: Copy??!
mesh->vertices = staticSceneObject->getLocalVertices();
}