diff --git a/Collision/CollisionMoller.h b/Collision/CollisionMoller.h
index b194dcb154f908acbed39c54979df408cf72e730..349275ca8222e4c9d305c319441b850250d41c8c 100644
--- a/Collision/CollisionMoller.h
+++ b/Collision/CollisionMoller.h
@@ -35,36 +35,36 @@ class CollisionMoller
public:
/// \brief triangle and triangle collision retursn intersection and projection points
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,
- core::Vec3d &p_intersectionPoint1,
- core::Vec3d &p_intersectionPoint2,
- short &p_tri1SinglePointIndex,
- short &p_tri2SinglePointIndex,
- core::Vec3d &p_projPoint1,
- core::Vec3d &p_projPoint2);
+ core::Vec3d &p_tri1Point2,
+ core::Vec3d &p_tri1Point3,
+ core::Vec3d &p_tri2Point1,
+ core::Vec3d &p_tri2Point2,
+ core::Vec3d &p_tri2Point3,
+ int &coplanar,
+ core::Vec3d &p_intersectionPoint1,
+ core::Vec3d &p_intersectionPoint2,
+ short &p_tri1SinglePointIndex,
+ short &p_tri2SinglePointIndex,
+ core::Vec3d &p_projPoint1,
+ core::Vec3d &p_projPoint2);
- 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,
- core::Vec3d &contactPoint,
- core::Vec3d &normal);
+ 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,
+ core::Vec3d &contactPoint,
+ core::Vec3d &normal);
/// \brief checks if the two triangles intersect
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);
+ 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(AABB &aabbA, AABB &aabbB, AABB &result);
@@ -77,11 +77,11 @@ public:
/// \brief checks if the line intersects the tirangle. returns if it is true. the intersection is returned in 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);
+ 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(AABB &p_aabb, core::Vec3d &v1, core::Vec3d &v2, core::Vec3d &v3);
diff --git a/Core/DataStructures.h b/Core/DataStructures.h
index fb3e2cac2ee709e097400b7148a94c427bb95cdd..ed12b6a10c0f9b1ac7c19dc3ec3af9dc4c6c2883 100644
--- a/Core/DataStructures.h
+++ b/Core/DataStructures.h
@@ -27,80 +27,6 @@
// SimMedTK includes
#include "Core/Config.h"
-template<typename T>
-class IndiceArrayIter;
-
-/// \brief inidice array for fast access to index
-template<typename T>
-class IndiceArray
-{
-protected:
- /// \brief storage
- T *storage;
- /// \brief check if the slot is empty
- bool *isEmpty;
- /// \brief indices
- int *indices;
- /// \brief number of elements
- int nbrElements;
- /// \brief maximum storage
- int maxStorage;
-public:
- /// \brief destructor
- ~IndiceArray();
- /// \brief constructor; gets maximum number of elements
- inline IndiceArray(int p_maxStorage);
- /// \brief add item
- inline int add(T p_item);
- /// \brief check if the item exists, if not add
- inline int checkAndAdd(T p_item);
- /// \brief remove the element from array
- inline bool remove(int p_itemIndex);
-
- /// \brief replace the entry in p_index slot with p_item
- inline bool replace(int p_index, T &p_item);
- /// \brief get element by reference
- inline T& getByRef(int p_index);
- /// \brief get element by safe. If the element doesn't exist it will return false
- inline bool getByRefSafe(int p_index, T&p_item);
- /// \brief get element by reference with string
- inline T& getByRef(std::string p_string);
- /// \brief for iterative access
- friend IndiceArrayIter<T>;
- /// \brief print the elements
- inline void print() const;
- /// \brief operators
- inline T& operator[](int p_index);
-
- inline int size();
- /// \brief copy from another p_array
- inline bool copy(IndiceArray &p_array);
-};
-
-/// \brief iteration
-template<class T>
-class IndiceArrayIter
-{
- int index;
- IndiceArray<T> *arrayPtr;
-public:
- /// \brief constructor that require index array
- IndiceArrayIter(IndiceArray<T> *p_array);
- /// \brief operators for accessing and iteration
- T& operator[](int p_index);
-
- int& operator++(); //prefix;
-
- int operator++(const int); //postfix;
-
- int& operator--(); //prefix;
-
- int operator--(const int); //postfix;
-
- inline int begin();
-
- inline int end();
-};
/// \brief hash bucket size
#define SIMMEDTK_HASHBUCKET_SIZE 10
/// \brief a hash entry; bucket
@@ -164,6 +90,7 @@ public:
long int num_prim;
/// \brief table size
long int tableSize;
+
private:
/// \brief entries in the bucket
inline void moveEntriesInBucket(EntryList<T> &p_Bucket, int p_entryIndex);
@@ -203,33 +130,6 @@ enum StorageSlideType
SIMMEDTK_STORAGESLIDING_FRONTFIRST,
SIMMEDTK_STORAGESLIDING_LASTFIRST
};
-/// \brief sliding storage window
-template<typename T>
-class StorageSlidingWindow
-{
-private:
- /// \brief type
- StorageSlideType strorageType;
-public:
- /// \brief data
- T *data;
- /// \brief window size
- unsigned int windowSize;
- /// \brief constructor
- ~StorageSlidingWindow();
- /// \brief siding window storage. constructor gets window size, type
- StorageSlidingWindow(int p_windowSize = 10, StorageSlideType p_type = SIMMEDTK_STORAGESLIDING_LASTFIRST);
- /// \brief storage type
- inline StorageSlideType getStorageType();
- /// \brief resize storage
- inline void resize(int p_newSize);
- /// \brief add value
- inline void add(T p_value);
- /// \brief zero all the entries
- inline void zeroed();
- /// \brief print all the elements
- void print() const;
-};
#include "Core/DataStructures.hpp"
diff --git a/Core/DataStructures.hpp b/Core/DataStructures.hpp
index 3bff1ac53ce8b248d2c5b5070a4b53df9e265710..55e6ca088d4ca96f216fbb2af875d7071add8c2f 100644
--- a/Core/DataStructures.hpp
+++ b/Core/DataStructures.hpp
@@ -24,223 +24,6 @@
#ifndef SMDATASTUCTURES_HPP
#define SMDATASTUCTURES_HPP
-template<typename T>
-IndiceArray<T>::~IndiceArray()
-{
- delete [] indices;
- delete [] storage;
- delete [] isEmpty;
-}
-template<typename T>
-IndiceArray<T>::IndiceArray( int p_maxStorage )
-{
- maxStorage = p_maxStorage;
- indices = new int[p_maxStorage];
- storage = new T[p_maxStorage];
- isEmpty = new bool[p_maxStorage];
-
- for ( int i = 0; i < p_maxStorage; i++ )
- {
- isEmpty[i] = true;
- }
-
- nbrElements = 0;
-}
-template<typename T> int
-IndiceArray<T>::add( T p_item )
-{
- int index = -1;
-
- if ( nbrElements < maxStorage )
- {
- for ( int i = 0; i < maxStorage; i++ )
- {
- if ( isEmpty[i] )
- {
- index = i;
- break;
- }
- }
-
- if ( index >= 0 && index < maxStorage )
- {
- isEmpty[index] = false;
- storage[index] = p_item;
- indices[nbrElements] = index;
- nbrElements++;
- return index;
- }
- }
-
- return index;
-}
-template<typename T> int
-IndiceArray<T>::checkAndAdd( T p_item )
-{
- int index = -1;
-
- if ( nbrElements < maxStorage )
- {
- for ( int i = 0; i < nbrElements; i++ )
- if ( storage[indices[i]] == p_item )
- {
- break;
- }
-
- return add( p_item );
- }
-
- return index;
-}
-template<typename T> bool
-IndiceArray<T>::remove( int p_itemIndex )
-{
- int counter = 0;
-
- if ( p_itemIndex >= 0 && p_itemIndex < maxStorage )
- {
- for ( int i = 0; i < nbrElements; i++ )
- {
- if ( i == p_itemIndex )
- {
- continue;
- }
-
- indices[counter] = indices[i];
- counter++;
- }
-
- nbrElements--;
- isEmpty[p_itemIndex] = true;
- return true;
- }
- else
- {
- return false;
- }
-}
-template<typename T> bool
-IndiceArray<T>::replace( int p_index, T &p_item )
-{
- if ( isEmpty[p_index] == false )
- {
- storage[p_index] = p_item;
- return true;
- }
-
- return false;
-}
-template<typename T>
-T &IndiceArray<T>::getByRef( int p_index )
-{
- return storage[p_index];
-}
-template<typename T> bool
-IndiceArray<T>::getByRefSafe( int p_index, T &p_item )
-{
- if ( isEmpty[p_index] )
- {
- return false;
- }
- else
- {
- p_item = storage[p_index];
- return true;
- }
-}
-template<typename T>
-T &IndiceArray<T>::getByRef( std::string p_string )
-{
- for ( int i = 0; i < nbrElements; i++ )
- {
- if ( storage[indices[i]] == p_string )
- {
- return storage[indices[i]];
- }
- }
-}
-template<typename T> void
-IndiceArray<T>::print() const
-{
- for ( int i = 0; i < nbrElements; i++ )
- {
- storage[indices[i]]->print();
- }
-}
-template<typename T>
-T &IndiceArray<T>::operator[]( int p_index )
-{
- return storage[indices[p_index]];
-}
-template<typename T> int
-IndiceArray<T>::size()
-{
- return nbrElements;
-}
-template<typename T> bool
-IndiceArray<T>::copy( IndiceArray &p_array )
-{
- if ( maxStorage < p_array.maxStorage )
- {
- for ( int j = 0; j < maxStorage; j++ )
- {
- isEmpty[j] = true;
- }
-
- for ( int i = 0; i < p_array.nbrElements; i++ )
- {
- storage[indices[i]] = p_array.storage[p_array.indices[i]];
- indices[i] = p_array.indices[i];
- isEmpty[i] = p_array.isEmpty[p_array.indices[i]];
- }
-
- return true;
- }
-
- return false;
-}
-
-template<typename T>
-IndiceArrayIter<T>::IndiceArrayIter( IndiceArray< T > *p_array )
-{
- arrayPtr = p_array;
-}
-template<typename T>
-T &IndiceArrayIter<T>::operator[]( int p_index )
-{
- return arrayPtr->storage[ arrayPtr->indices[p_index]];
-}
-template<typename T> int&
-IndiceArrayIter<T>::operator++()
-{
- return ++index;
-}
-template<typename T> int
-IndiceArrayIter<T>::operator++( const int )
-{
- return index++;
-}
-template<typename T> int&
-IndiceArrayIter<T>::operator--()
-{
- return --index;
-}
-template<typename T> int
-IndiceArrayIter<T>::operator--( const int )
-{
- return index--;
-}
-template<typename T> int
-IndiceArrayIter<T>::begin()
-{
- index = 0;
- return index;
-}
-template<typename T> int
-IndiceArrayIter<T>::end()
-{
- return arrayPtr->nbrElements;
-}
template<typename T>
EntryList<T>::EntryList()
{
@@ -255,7 +38,7 @@ HashIterator<T>::HashIterator()
bucketStart = NULL;
}
template<typename T> void
-HashIterator<T>::clone( HashIterator< T > &p_iterator )
+HashIterator<T>::clone( HashIterator<T> &p_iterator )
{
tableIndex = p_iterator.tableIndex;
currentIndex = p_iterator.currentIndex;
@@ -269,13 +52,13 @@ HashIterator<T>::resetBucketIteration()
iterator = bucketStart;
}
template<typename T>
-std::ostream &operator<<( std::ostream &out, HashIterator< T > &p )
+std::ostream &operator<<( std::ostream &out, HashIterator<T> &p )
{
out << "Table Index:" << p.tableIndex << " Current Bucket Index:" << p.currentIndex;
return out;
}
template<typename T>
-void Hash<T>::moveEntriesInBucket( EntryList< T > &p_Bucket, int p_entryIndex )
+void Hash<T>::moveEntriesInBucket( EntryList<T> &p_Bucket, int p_entryIndex )
{
for ( unsigned int i = p_entryIndex; i < p_Bucket.totalEntries - 1; i++ )
{
@@ -285,7 +68,7 @@ void Hash<T>::moveEntriesInBucket( EntryList< T > &p_Bucket, int p_entryIndex )
p_Bucket.totalEntries--;
}
template<typename T>
-bool Hash<T>::checkIdentical( EntryList< T > &p_entry, T p_prim )
+bool Hash<T>::checkIdentical( EntryList<T> &p_entry, T p_prim )
{
for ( unsigned int i = 0; i < p_entry.totalEntries; i++ )
{
@@ -298,7 +81,7 @@ bool Hash<T>::checkIdentical( EntryList< T > &p_entry, T p_prim )
return false;
}
template<typename T>
-bool Hash<T>::findandUpdateEntry( EntryList< T > &p_startEntry, T &p_prim )
+bool Hash<T>::findandUpdateEntry( EntryList<T> &p_startEntry, T &p_prim )
{
EntryList<T> *currentBucket = &p_startEntry;
@@ -322,7 +105,7 @@ bool Hash<T>::findandUpdateEntry( EntryList< T > &p_startEntry, T &p_prim )
}
}
template<typename T>
-void Hash<T>::clearBuckets( EntryList< T > &p_startEntry )
+void Hash<T>::clearBuckets( EntryList<T> &p_startEntry )
{
EntryList<T> *currentBucket = &p_startEntry;
@@ -445,7 +228,7 @@ void Hash<T>::startIteration()
currentIterationBucket = &primitiveIDs[currentTableIndex];
}
template<typename T>
-bool Hash<T>::next( HashIterator< T > &p_iterator )
+bool Hash<T>::next( HashIterator<T> &p_iterator )
{
if ( p_iterator.tableIndex >= tableSize )
{
@@ -459,7 +242,7 @@ bool Hash<T>::next( HashIterator< T > &p_iterator )
return true;
}
template<typename T>
-bool Hash<T>::nextBucketItem( HashIterator< T > &p_iterator, T &p_prim )
+bool Hash<T>::nextBucketItem( HashIterator<T> &p_iterator, T &p_prim )
{
while ( true )
{
@@ -576,97 +359,5 @@ void Hash<T>::clearAll()
num_prim = 0;
}
-template<typename T>
-StorageSlidingWindow<T>::~StorageSlidingWindow()
-{
- delete[] data;
-}
-template<typename T>
-StorageSlidingWindow<T>::StorageSlidingWindow( int p_windowSize, StorageSlideType p_type )
-{
- data = new T[p_windowSize];
- windowSize = p_windowSize;
- memset( data, 0, sizeof( T )*p_windowSize );
- strorageType = p_type;
-}
-template<typename T>
-StorageSlideType StorageSlidingWindow<T>::getStorageType()
-{
- return strorageType;
-}
-template<typename T>
-void StorageSlidingWindow<T>::resize( int p_newSize )
-{
- T *tempData;
- int index;
-
- if ( windowSize == p_newSize )
- {
- return;
- }
-
- tempData = new T[p_newSize];
- memset( tempData, 0, sizeof( T )*p_newSize );
-
- if ( strorageType == SIMMEDTK_STORAGESLIDING_LASTFIRST )
- {
- if ( p_newSize > windowSize )
- {
- memcpy( tempData + p_newSize - windowSize, data, windowSize * sizeof( T ) );
- }
- else
- {
- memcpy( tempData, data + p_newSize, p_newSize * sizeof( T ) );
- }
- }
- else
- {
- if ( p_newSize > windowSize )
- {
- memcpy( tempData, data, windowSize * sizeof( T ) );
- }
- else
- {
- memcpy( tempData, data, p_newSize * sizeof( T ) );
- }
- }
-
- delete[] data;
- data = tempData;
- windowSize = p_newSize;
-}
-template<typename T>
-void StorageSlidingWindow<T>::add( T p_value )
-{
- if ( strorageType == SIMMEDTK_STORAGESLIDING_LASTFIRST )
- {
- memcpy( data, &data[1], ( windowSize - 1 )*sizeof( T ) );
- data[windowSize - 1] = p_value;
- }
- else
- {
- for ( int i = windowSize - 1; i > 0; i-- )
- {
- data[i] = data[i - 1];
- }
-
- data[0] = p_value;
- }
-}
-template<typename T>
-void StorageSlidingWindow<T>::zeroed()
-{
- memset( data, 0, sizeof( T )*windowSize );
-}
-template<typename T>
-void StorageSlidingWindow<T>::print() const
-{
- for ( int i = 0; i < windowSize; i++ )
- {
- std::cout << data[i] << " ";
- }
-
- std::cout << "\n";
-}
#endif
diff --git a/Core/SDK.cpp b/Core/SDK.cpp
index e45ce672d0e6a400ec1cd00c5fc6273a964a3fe5..b591efe828b24e0802dcd45cd1f68129a37a21d7 100644
--- a/Core/SDK.cpp
+++ b/Core/SDK.cpp
@@ -32,13 +32,6 @@
// std::unique_ptr<ErrorLog> SDK::errorLog;
std::once_flag SDK::sdkCallOnceFlag;
-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
SDK::SDK()
{
@@ -51,14 +44,6 @@ SDK::SDK()
sceneList.clear();
errorLog = std::make_shared<ErrorLog>();
-
- // TODO: Fix these! Leaking...
- 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);
}
SDK::~SDK()
@@ -83,7 +68,7 @@ void SDK::releaseScene(std::shared_ptr<Scene> scene)
std::shared_ptr<ViewerBase> SDK::createViewer()
{
this->viewer = Factory<CoreClass>::createDefaultAs<ViewerBase>("ViewerBase");
- if (!!this->viewer)
+ if (this->viewer)
{
this->viewer->log = this->errorLog;
this->registerModule(this->viewer);
@@ -112,15 +97,10 @@ std::shared_ptr<ViewerBase> SDK::getViewerInstance()
/// \brief
std::shared_ptr<Simulator> SDK::createSimulator()
{
- if (this->simulator == nullptr)
+ if(!this->simulator)
{
simulator = std::make_shared<Simulator>(errorLog);
-
- for (int j = 0; j < (*scenesRef).size(); j++)
- {
- simulator->sceneList.push_back((*scenesRef)[j].scene);
- }
-
+ simulator->sceneList = this->sceneList;
registerModule(simulator);
}
@@ -135,12 +115,13 @@ void SDK::updateSceneListAll()
/// \brief Initialize all modules registered to the SimMedTK SDK
void SDK::initRegisteredModules()
{
-
- for (int i = 0; i < modulesRef->size(); i++)
- if ((*modulesRef)[i].module->getType() != core::ClassType::Viewer)
+ for(auto &module : this->moduleList)
+ {
+ if(module->getType() != core::ClassType::Viewer)
{
- (*modulesRef)[i].module->init();
+ module->init();
}
+ }
}
/** \brief Run the registered modules
@@ -151,36 +132,33 @@ void SDK::initRegisteredModules()
* are already running or no module inherits ViewerBase.
* Otherwise, the index of the last viewer module encountered
* is returned.
+ * Note: This function assumes that there is only one viewer.
*/
-int SDK::runRegisteredModules()
+void SDK::runRegisteredModules()
{
- int viewerIndex = -1;
-
if (isModulesStarted)
{
- return viewerIndex;
+ return;
}
- for (int i = 0; i < modulesRef->size(); i++)
+ for(auto &module : this->moduleList)
{
- auto view = std::dynamic_pointer_cast<ViewerBase>((*modulesRef)[i].module);
- if (view)
- viewerIndex = i;
- else
- modules.emplace_back([i]{(*modulesRef)[i].module->exec();});
+ auto viewer = std::dynamic_pointer_cast<ViewerBase>(module);
+ if(!viewer)
+ {
+ modules.emplace_back([module]{module->exec();});
+ }
}
isModulesStarted = true;
- return viewerIndex;
}
///\brief shutdowns all the modules
void SDK::shutDown()
{
-
- for (int i = 0; i < modulesRef->size(); i++)
+ for(auto &module : this->moduleList)
{
- (*modulesRef)[i].module->terminateExecution = true;
+ module->terminateExecution = true;
}
shutdown = true;
}
@@ -191,19 +169,23 @@ void SDK::run()
updateSceneListAll();
initRegisteredModules();
- int viewer = runRegisteredModules();
- // Run the viewer in the main thread:
- if (viewer >= 0)
- (*modulesRef)[viewer].module->exec();
+ runRegisteredModules();
+
+ this->viewer->exec();
+
// Now wait for other modules to shut down
- while (!shutdown) {
+ while (!shutdown)
+ {
std::this_thread::sleep_for(std::chrono::seconds(1));
}
- terminateAll(); //Tell framework threads to shutdown
- //Wait for all threads to finish processing
- for (size_t i = 0; i < modules.size(); ++i)
+
+ // Tell framework threads to shutdown
+ terminateAll();
+
+ // Wait for all threads to finish processing
+ for (auto &module : modules)
{
- modules[i].join();
+ module.join();
}
}
@@ -249,19 +231,17 @@ std::shared_ptr<SDK> SDK::getInstance()
void SDK::terminateAll()
{
-
- for(int i = 0; i < (*modulesRef).size(); i++)
+ for(auto &module : this->moduleList)
{
- (*modulesRef)[i].module->terminateExecution = true;
+ module->terminateExecution = true;
}
- for(int i = 0; i < (*modulesRef).size(); i++)
+ for(auto &module : this->moduleList)
{
bool moduleTerminated = false;
-
- while(true && !moduleTerminated)
+ while(!moduleTerminated)
{
- if((*modulesRef)[i].module->isTerminationDone())
+ if(module->isTerminationDone())
{
moduleTerminated = true;
}
@@ -270,56 +250,71 @@ void SDK::terminateAll()
}
/// \brief register functions
-int SDK::registerMesh(std::shared_ptr<BaseMesh> p_mesh)
+void SDK::registerMesh(std::shared_ptr<BaseMesh> newMesh)
{
- MeshHolder mh;
- mh.mesh = p_mesh;
- return meshesRef->checkAndAdd(mh);
+ if(std::end(this->meshList) ==
+ std::find(std::begin(this->meshList),std::end(this->meshList),newMesh) )
+ {
+ this->meshList.emplace_back(newMesh);
+ }
}
-int SDK::registerModule(std::shared_ptr<Module> p_mod)
+void SDK::registerModule(std::shared_ptr<Module> newModule)
{
- ModuleHolder mh;
- mh.module = p_mod;
- return modulesRef->checkAndAdd(mh);
+ if(std::end(this->moduleList) ==
+ std::find(std::begin(this->moduleList),std::end(this->moduleList),newModule) )
+ {
+ this->moduleList.emplace_back(newModule);
+ }
}
-void SDK::registerObjectSim(std::shared_ptr<ObjectSimulator> p_os)
+void SDK::registerObjectSimulator(std::shared_ptr<ObjectSimulator> newObjectSimulator)
{
- ObjectSimulatorHolder os;
- os.objectSim = p_os;
- objectSimulatorsRef->checkAndAdd(os);
+ if(std::end(this->simulatorList) ==
+ std::find(std::begin(this->simulatorList),std::end(this->simulatorList),newObjectSimulator) )
+ {
+ this->simulatorList.emplace_back(newObjectSimulator);
+ }
}
-void SDK::registerCollDet(std::shared_ptr<ObjectSimulator> p_col)
+void SDK::registerCollisionDetection(std::shared_ptr<CollisionDetection> newCollisionDetection)
{
- ObjectSimulatorHolder col;
- col.objectSim = p_col;
- collisionDetectorsRef->checkAndAdd(col);
+ if(std::end(this->collisionDetectionList) ==
+ std::find(std::begin(this->collisionDetectionList),std::end(this->collisionDetectionList),newCollisionDetection) )
+ {
+ this->collisionDetectionList.emplace_back(newCollisionDetection);
+ }
}
-void SDK::registerScene(std::shared_ptr<Scene> p_sc)
+void SDK::registerScene(std::shared_ptr<Scene> newScene)
{
- SceneHolder sc;
- sc.scene = p_sc;
- scenesRef->checkAndAdd(sc);
+ if(std::end(this->sceneList) ==
+ std::find(std::begin(this->sceneList),std::end(this->sceneList),newScene) )
+ {
+ this->sceneList.emplace_back(newScene);
+ }
}
-void SDK::registerSceneObject(std::shared_ptr<SceneObject> p_sco)
+void SDK::registerSceneObject(std::shared_ptr<SceneObject> newSceneObject)
{
- SceneObjectHolder sh;
- sh.sceneObject = p_sco;
- sceneObjectsRef->checkAndAdd(sh);
+ if(std::end(this->sceneObjectList) ==
+ std::find(std::begin(this->sceneObjectList),std::end(this->sceneObjectList),newSceneObject) )
+ {
+ this->sceneObjectList.emplace_back(newSceneObject);
+ }
}
void SDK::addSceneActor(std::shared_ptr<SceneObject> p_sco, std::shared_ptr<ObjectSimulator> p_os, int p_scId)
{
- assert(p_os);
- assert(p_sco);
+ if(!p_sco || !p_os)
+ {
+ std::cerr << "Empty objects" << std::endl;
+ return;
+ }
p_sco->attachObjectSimulator(p_os);
- this->registerObjectSim(p_os);
+ this->registerObjectSimulator(p_os);
this->registerSceneObject(p_sco);
diff --git a/Core/SDK.h b/Core/SDK.h
index ec00bd1aee8d5f17ff5f0aadff64df19292f3cea..53406d0114babe974bee7c2264bf114b314b353e 100644
--- a/Core/SDK.h
+++ b/Core/SDK.h
@@ -44,122 +44,9 @@
template<typename T> class IndiceArray;
class Scene;
-
-/// \brief mesh holder
-struct MeshHolder
-{
-
- MeshHolder()
- {
- mesh = NULL;
- }
-
- std::shared_ptr<BaseMesh> mesh;
-
- inline bool operator ==(MeshHolder &p_param)
- {
- return mesh == p_param.mesh;
- }
-};
-
-/// \brief module holder
-struct ModuleHolder
-{
-
- ModuleHolder()
- {
- module = NULL;
- }
-
- std::shared_ptr<Module> module;
-
- inline bool operator ==(ModuleHolder &p_param)
- {
- return module == p_param.module;
- }
-};
-
-/// \brief simulator holder
-struct ObjectSimulatorHolder
-{
-
- ObjectSimulatorHolder()
- {
- objectSim = NULL;
- }
-
- std::shared_ptr<ObjectSimulator> objectSim;
-
- inline bool operator ==(ObjectSimulatorHolder &p_param)
- {
- return objectSim == p_param.objectSim;
- }
-};
-
-/// \brief scene holders
-struct SceneHolder
-{
- SceneHolder()
- {
- scene = NULL;
- }
-
- std::shared_ptr<Scene> scene;
- inline bool operator ==(SceneHolder &p_param)
- {
- return scene == p_param.scene;
- }
-
-};
-
-/// \brief scene object holder
-struct SceneObjectHolder
-{
-
- SceneObjectHolder()
- {
- sceneObject = NULL;
- }
-
- std::shared_ptr<SceneObject> sceneObject;
- inline bool operator ==(SceneObjectHolder &p_param)
- {
- return sceneObject == p_param.sceneObject;
- }
-
-};
-
-
/// \brief SDK class. it is a singlenton class for each machine runs the framework
class SDK: public CoreClass
{
-private:
- static std::once_flag sdkCallOnceFlag;
-
- bool shutdown; ///< Tells the SDK to terminate
- int sceneIdCounter; ///< this id is incremented when a scene is created
- int argc;
- char argv;
- bool isModulesStarted;
-
- 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 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
- SDK();
-
public:
/// \brief destructor
~SDK();
@@ -168,7 +55,7 @@ public:
void updateSceneListAll();
void initRegisteredModules();
- int runRegisteredModules();
+ void runRegisteredModules();
void shutDown();
///for now both functions below are the same. But it maybe subject to change.
@@ -202,7 +89,7 @@ public:
///SDK creates scene
std::shared_ptr<Scene> getScene(size_t sceneId)
{
- return scenesRef->getByRef(sceneId).scene;
+ return sceneList.at(sceneId);
}
///SDK returns logger for the system
@@ -214,6 +101,9 @@ public:
///release the scene from the SDK..not implemented yet
void releaseScene(std::shared_ptr<Scene> scene);
+ /// Prevent use of assignament operator
+ SDK &operator=(const SDK&) = delete;
+
/// \brief run the SDK
void run();
@@ -224,19 +114,45 @@ public:
void removeRef(std::shared_ptr<CoreClass> p_coreClass);
/// \brief register functions
- int registerMesh(std::shared_ptr<BaseMesh> p_mesh);
+ void registerMesh(std::shared_ptr<BaseMesh> p_mesh);
- int registerModule(std::shared_ptr<Module> p_mod);
+ void registerModule(std::shared_ptr<Module> p_mod);
- void registerObjectSim(std::shared_ptr<ObjectSimulator> p_os);
+ void registerObjectSimulator(std::shared_ptr<ObjectSimulator> p_os);
- void registerCollDet(std::shared_ptr<ObjectSimulator> p_col);
+ void registerCollisionDetection(std::shared_ptr<CollisionDetection> p_col);
void registerScene(std::shared_ptr<Scene> p_sc);
void registerSceneObject(std::shared_ptr<SceneObject> p_sco);
void addSceneActor(std::shared_ptr<SceneObject> p_sco, std::shared_ptr<ObjectSimulator> p_os, int p_scId=0);
+
+private:
+ static std::once_flag sdkCallOnceFlag;
+
+ bool shutdown; ///< Tells the SDK to terminate
+ int sceneIdCounter; ///< this id is incremented when a scene is created
+ int argc;
+ char argv;
+ bool isModulesStarted;
+
+ 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
+
+ ///holds the references to the entities in the framework
+ std::vector<std::shared_ptr<BaseMesh>> meshList;
+ std::vector<std::shared_ptr<Module>> moduleList;
+ std::vector<std::shared_ptr<ObjectSimulator>> simulatorList;
+ std::vector<std::shared_ptr<CollisionDetection>> collisionDetectionList;
+ std::vector<std::shared_ptr<Scene>> sceneList; ///< scene list
+ std::vector<std::shared_ptr<SceneObject>> sceneObjectList;
+
+ std::vector<std::thread> modules; ///< Stores a list of running module threads
+private:
+ /// \brief constructor
+ SDK();
};
#endif
diff --git a/Examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp b/Examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
index 4a843793724195ce1548132057e4c03ac64503ba..e39bd22e75caabbaedc3df31bfb465a5dcf054f2 100644
--- a/Examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
+++ b/Examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
@@ -54,7 +54,7 @@ CollisionDetectionBVH::CollisionDetectionBVH()
// Create dummy simulator
defaultSimulator = std::make_shared<DummySimulator>(sdk->getErrorLog());
- sdk->registerObjectSim(defaultSimulator);
+ sdk->registerObjectSimulator(defaultSimulator);
// Init texture manager and specify the textures needed for the current application
TextureManager::init(sdk->getErrorLog());
diff --git a/Examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp b/Examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
index 9a6e60e8eeec6fc8db30b6d6715f22ef755e3991..c18c50207c5e4d8a6432ac74fbbe8569766782dc 100644
--- a/Examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
+++ b/Examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
@@ -56,7 +56,7 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
// Create dummy simulator
defaultSimulator = std::make_shared<DummySimulator>(sdk->getErrorLog());
- sdk->registerObjectSim(defaultSimulator);
+ sdk->registerObjectSimulator(defaultSimulator);
// Init texture manager and specify the textures needed for the current application
TextureManager::init(sdk->getErrorLog());
diff --git a/Simulators/VegaFemSimulator.cpp b/Simulators/VegaFemSimulator.cpp
index 93f2c481eee2790adf31aedd528fded427feeb24..da4579bbd36962beaa6ad97bf31e24745a278f49 100644
--- a/Simulators/VegaFemSimulator.cpp
+++ b/Simulators/VegaFemSimulator.cpp
@@ -39,7 +39,7 @@ void VegaFemSimulator::initCustom()
{
auto object = objectsSimulated[i];
- switch ( type )
+ switch ( object->getType() )
{
case core::ClassType::VegaFemSceneObject:
{
diff --git a/VirtualTools/CurvedGrasper.h b/VirtualTools/CurvedGrasper.h
index f94f82e05507c337eb25bfde84e4b16eede066ef..59397ce3b342a067d31e536c636f51093bf46e67 100644
--- a/VirtualTools/CurvedGrasper.h
+++ b/VirtualTools/CurvedGrasper.h
@@ -59,9 +59,7 @@ public:
SurfaceMesh *mesh_pivot; // stores the pivot mesh
SurfaceMesh *mesh_lowerJaw; // stores lower jaw mesh
SurfaceMesh *mesh_upperJaw; // stores upper mesh jaw
-#ifdef smNIUSB6008DAQ
- smPipeRegisteration NIUSB6008pipeReg; //
-#endif
+
core::Vec3d godPos; // god object position
double godMat[9]; // god object matrix
int DAQdataID; // interface for DAQ