diff --git a/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp b/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
index 66af0688d148c45f3590fa01469026f2030d4129..7aeb2861a75aad4d5d6d9283ea8c02c6d6fcddf6 100644
--- a/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
+++ b/examples/CollisionDetectionBVH/CollisionDetectionBVH.cpp
@@ -92,18 +92,18 @@ CollisionDetectionBVH::CollisionDetectionBVH()
// Create a static scene
modelA = std::make_shared<smStaticSceneObject>();
- modelA->setMesh(collisionModelA->getMesh());
+ modelA->setModel(collisionModelA);
sdk->registerSceneObject(modelA);
- sdk->registerMesh(modelA->mesh);
+ sdk->registerMesh(collisionModelA->getMesh());
// Attach object to the dummy simulator. it will be simulated by dummy simulator
modelA->attachObjectSimulator(defaultSimulator);
// Initialize the scecond object
modelB = std::make_shared<smStaticSceneObject>();
- modelB->setMesh(collisionModelB->getMesh());
+ modelB->setModel(collisionModelB);
sdk->registerSceneObject(modelB);
- sdk->registerMesh(modelB->mesh);
+ sdk->registerMesh(collisionModelB->getMesh());
// Add object to the scene
scene->addSceneObject(modelA);
@@ -142,13 +142,13 @@ void CollisionDetectionBVH::simulateMain(const smSimulationMainParam &/*p_param*
{
if ((10 > moveObj) && (moveObj > 0))
{
- modelB->mesh->translate(1, 0, 0);
+ modelB->getModel()->getMesh()->translate(1, 0, 0);
moveObj--;
}
else
{
moveObj = 9; // reset
- modelB->mesh->translate(-moveObj, 0, 0);
+ modelB->getModel()->getMesh()->translate(-moveObj, 0, 0);
}
std::this_thread::sleep_for(std::chrono::milliseconds(50));
diff --git a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
index 2dc30d16168a102f33d726762e51c85ae5643caa..a82b251393d49faee231fb2079d5388b0477950d 100644
--- a/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
+++ b/examples/CollisionDetectionSpatialHashing/CollisionDetectionSpatialHashing.cpp
@@ -68,39 +68,39 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
smTextureManager::loadTexture("textures/brick.jpg", "wallImage");
smTextureManager::loadTexture("textures/brick-normal.jpg", "wallBumpImage");
+ // Create collision models
+ std::shared_ptr<smMeshCollisionModel> collisionModelA = std::make_shared<smMeshCollisionModel>();
+ collisionModelA->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
+ collisionModelA->getMesh()->assignTexture("livertexture1");
+ collisionModelA->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
+ collisionModelA->getMesh()->translate(7, 3, 0);
+ collisionModelA->getMesh()->getRenderDetail()->lineSize = 2;
+ collisionModelA->getMesh()->getRenderDetail()->pointSize = 5;
+
+ std::shared_ptr<smMeshCollisionModel> collisionModelB = std::make_shared<smMeshCollisionModel>();
+ collisionModelB->loadTriangleMesh("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
+ collisionModelB->getMesh()->assignTexture("livertexture2");
+ collisionModelB->getMesh()->translate(smVec3d(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->setModel(collisionModelA);
sdk->registerSceneObject(modelA);
- sdk->registerMesh(modelA->mesh);
-
- // Load mesh
- modelA->mesh->loadMeshLegacy("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
-
- // Assign a texture
- modelA->mesh->assignTexture("livertexture1");
-
- // Set the rendering features
- modelA->mesh->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
- modelA->mesh->translate(7, 3, 0);
- modelA->mesh->getRenderDetail()->lineSize = 2;
- modelA->mesh->getRenderDetail()->pointSize = 5;
+ sdk->registerMesh(collisionModelA->getMesh());
// Attach object to the dummy simulator. it will be simulated by dummy simulator
modelA->attachObjectSimulator(defaultSimulator);
- spatialHashing->addMesh(modelA->mesh);
+ spatialHashing->addMesh(collisionModelA->getMesh());
// Initialize the scecond object
modelB = std::make_shared<smStaticSceneObject>();
sdk->registerSceneObject(modelB);
- sdk->registerMesh(modelB->mesh);
-
- modelB->mesh->loadMeshLegacy("models/liverNormalized_SB2.3DS", SM_FILETYPE_3DS);
- modelB->mesh->translate(smVec3d(2, 0, 0));
+ sdk->registerMesh(collisionModelB->getMesh());
- modelB->mesh->assignTexture("livertexture2");
- modelB->mesh->getRenderDetail()->shadowColor.rgba[0] = 1.0;
- modelB->mesh->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_WIREFRAME);
- spatialHashing->addMesh(modelB->mesh);
+ spatialHashing->addMesh(collisionModelB->getMesh());
// Add object to the scene
scene->addSceneObject(modelA);
@@ -124,8 +124,6 @@ CollisionDetectionSpatialHashing::CollisionDetectionSpatialHashing()
// Create dummy collision pair
std::shared_ptr<smCollisionPair> collisionPair = std::make_shared<smCollisionPair>();
- std::shared_ptr<smMeshCollisionModel> collisionModelB = std::make_shared<smMeshCollisionModel>();
- std::shared_ptr<smMeshCollisionModel> collisionModelA = std::make_shared<smMeshCollisionModel>();
collisionPair->setModels(collisionModelA,collisionModelB);
simulator->addCollisionPair(collisionPair);
@@ -143,13 +141,13 @@ void CollisionDetectionSpatialHashing::simulateMain(const smSimulationMainParam
{
if ((10 > moveObj) && (moveObj > 0))
{
- modelB->mesh->translate(1, 0, 0);
+ modelB->getModel()->getMesh()->translate(1, 0, 0);
moveObj--;
}
else
{
moveObj = 9; // reset
- modelB->mesh->translate(-moveObj, 0, 0);
+ modelB->getModel()->getMesh()->translate(-moveObj, 0, 0);
}
std::this_thread::sleep_for(std::chrono::milliseconds(50));
diff --git a/examples/demo 1/CMakeLists.txt b/examples/demo 1/CMakeLists.txt
index 1f8d2289b0c67483df4ec86e5f703c8b5e61716d..31af4ab16335a6647341402a139e1a0706370a52 100644
--- a/examples/demo 1/CMakeLists.txt
+++ b/examples/demo 1/CMakeLists.txt
@@ -1,5 +1,5 @@
-add_executable(vegaFemExample main.cpp demo1.cpp demo1.h)
+add_executable(vegaFemExample main.cpp)
target_link_libraries(demo1
smCore
smRendering
diff --git a/examples/demo 1/demo1.cpp b/examples/demo 1/demo1.cpp
deleted file mode 100644
index 84d58139e620286053b2bcbf45f38409bce813e1..0000000000000000000000000000000000000000
--- a/examples/demo 1/demo1.cpp
+++ /dev/null
@@ -1,83 +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 "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
deleted file mode 100644
index 5043fbdaae3820a7644ce66f5d93c3ed6c27dbd6..0000000000000000000000000000000000000000
--- a/examples/demo 1/demo1.h
+++ /dev/null
@@ -1,50 +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 "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
index 4d7549568c3df29785ff2b1b43cff751ef10731c..38dda84532d4f3bdcb8cebc360adade1b37e6ac1 100644
--- a/examples/demo 1/main.cpp
+++ b/examples/demo 1/main.cpp
@@ -21,10 +21,74 @@
// Contact:
//---------------------------------------------------------------------------
-#include "vegaFemExample.h"
+// Core SimMedTK includes
+#include "smCore/smConfig.h"
+#include "smCore/smErrorLog.h"
+#include "smCore/smCoreClass.h"
+#include "smCore/smSDK.h"
+#include "smRendering/smViewer.h"
+#include "smCore/smSceneObject.h"
+
+// Include required types scene objects
+#include "smSimulators/smVegaFemSceneObject.h"
+#include "smCore/smStaticSceneObject.h"
+
+// Include required simulators
+#include "smSimulators/smVegaFemSimulator.h"
+#include "smSimulators/smDummySimulator.h"
int main()
{
- demo1();
+ //-------------------------------------------------------
+ // 1. Create an instance of the SoFMIS framework/SDK
+ // 2. Create viewer
+ // 3. Create default scene (scene 0)
+ //-------------------------------------------------------
+ std::unique_ptr<smSDK> sdk = smSDK::createStandardSDK();
+
+ //-------------------------------------------------------
+ // Create scene actor 1: fem scene object + fem simulator
+ //-------------------------------------------------------
+
+ // create a FEM simulator
+ std::shared_ptr<smVegaFemSimulator> femSimulator =
+ std::make_shared<smVegaFemSimulator>(sdk->getErrorLog());
+
+ // create a Vega based FEM object and attach it to the fem simulator
+ std::make_shared<smVegaFemSceneObject> femObject =
+ std::make_shared<smVegaFemSceneObject>(sdk->getErrorLog(),
+ "../../../resources/vega/asianDragon/asianDragon.config");
+
+ sdk->addSceneActor(femObject, femSimulator);
+
+ //-------------------------------------------------------
+ // Create scene actor 2: plane + dummy simulator
+ //-------------------------------------------------------
+
+ // Create dummy simulator
+ std::make_shared<smDummySimulator> staticSimulator =
+ std::make_shared<smDummySimulator>(sdk->getErrorLog());
+
+ // create a static scene object
+ std::shared_ptr<smStaticSceneObject> staticObject =
+ std::make_shared<smStaticSceneObject>();
+
+ sdk->addSceneActor(staticObject, staticSimulator);
+
+ //-------------------------------------------------------
+ // Customize viewer
+ //-------------------------------------------------------
+ cstd::shared_ptr<smStaticSceneObject> viewer = sdk->getViewerInstance();
+
+ viewer->viewerRenderDetail = viewer->viewerRenderDetail |
+ SIMMEDTK_VIEWERRENDER_FADEBACKGROUND;
+
+ viewer->setEventDispatcher(sdk->getEventDispatcher());
+
+ //-------------------------------------------------------
+ // Run the SDK
+ //-------------------------------------------------------
+ sdk->run();
+
return 0;
}
diff --git a/examples/renderCube/CMakeLists.txt b/examples/renderCube/CMakeLists.txt
index 174f179c24dd9d3c6fbb62fa6f3b0c6feb2007a8..5efcf315863e18331bbc8cc9db784076d5536e93 100755
--- a/examples/renderCube/CMakeLists.txt
+++ b/examples/renderCube/CMakeLists.txt
@@ -6,6 +6,7 @@ target_link_libraries(renderCube
smShader
smMesh
smEvent
+ smCollision
ExamplesCommon
sfml::system
sfml::audio
diff --git a/examples/renderCube/main.cpp b/examples/renderCube/main.cpp
index 5cce0f94c318e33e7d0bbe65a65293f5dcbd804d..8b238acfefb4527930e3fca7fcf05a2bf3956e8a 100644
--- a/examples/renderCube/main.cpp
+++ b/examples/renderCube/main.cpp
@@ -28,6 +28,7 @@
#include "smCore/smSDK.h"
#include "smCore/smTextureManager.h"
+#include "smCollision/smMeshCollisionModel.h"
int main()
{
@@ -56,18 +57,17 @@ int main()
//Initialize the texture manager
smTextureManager::init(sdk->getErrorLog());
+
+ std::shared_ptr<smMeshCollisionModel> cubeModel = std::make_shared<smMeshCollisionModel>();
+ cubeModel->loadTriangleMesh("models/cube.obj", SM_FILETYPE_OBJ);
+ cubeModel->getMesh()->assignTexture("cubetex");
+ cubeModel->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
//Load in the texture for the cube model
smTextureManager::loadTexture("textures/cube.png", "cubetex");
cube = std::make_shared<smStaticSceneObject>();
-
- //Load the cube model
- cube->mesh->loadMesh("models/cube.obj", SM_FILETYPE_OBJ);
- //Assign the previously loaded texture to the cube model
- cube->mesh->assignTexture("cubetex");
- //Tell SimMedTK to render the faces of the model, and the texture assigned
- cube->mesh->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
scene1->addSceneObject(cube);
diff --git a/examples/renderCubeToTexture/CMakeLists.txt b/examples/renderCubeToTexture/CMakeLists.txt
index 6f71e87976df780bd85d2194f4ddff7c39eb8101..d9b1022da92b9ed87669feb797680de1e3922b83 100755
--- a/examples/renderCubeToTexture/CMakeLists.txt
+++ b/examples/renderCubeToTexture/CMakeLists.txt
@@ -6,5 +6,6 @@ target_link_libraries(renderCubeToTexture
smRendering
smShader
smMesh
+ smCollision
ExamplesCommon
)
diff --git a/examples/renderCubeToTexture/main.cpp b/examples/renderCubeToTexture/main.cpp
index 102ce8dd4449aba4f3a573256e16c180de1fa1ea..df8e08464bf491eb42ee562144958525c29acac4 100644
--- a/examples/renderCubeToTexture/main.cpp
+++ b/examples/renderCubeToTexture/main.cpp
@@ -28,6 +28,7 @@
#include "smCore/smSDK.h"
#include "smCore/smTextureManager.h"
+#include "smCollision/smMeshCollisionModel.h"
int main()
{
@@ -61,37 +62,36 @@ int main()
//Load in the texture for the cube model
smTextureManager::loadTexture("textures/cube.png", "cubetex");
+ std::shared_ptr<smMeshCollisionModel> cubeModel = std::make_shared<smMeshCollisionModel>();
+ cubeModel->loadTriangleMesh("models/cube.obj", SM_FILETYPE_OBJ);
+ cubeModel->getMesh()->assignTexture("cubetex");
+ cubeModel->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
//setup scene1
cube = std::make_shared<smStaticSceneObject>();
-
- //Load the cube model
- cube->mesh->loadMesh("models/cube.obj", SM_FILETYPE_OBJ);
- //Assign the previously loaded texture to the cube model
- cube->mesh->assignTexture("cubetex");
- //Tell SimMedTK to render the faces of the model, and the texture assigned
- cube->mesh->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
+ cube->setModel(cubeModel);
//Add the cube to the scene to be rendered
scene1->addSceneObject(cube);
//setup scene2
+ //Create a color and depth texture for the FBO
+ smTextureManager::createColorTexture("colorTex1", 64, 64);
+ smTextureManager::createDepthTexture("depthTex1", 64, 64);
+ std::shared_ptr<smMeshCollisionModel> squareModel = std::make_shared<smMeshCollisionModel>();
+ squareModel->loadTriangleMesh("models/square.obj", SM_FILETYPE_OBJ);
+ squareModel->getMesh()->assignTexture("colorTex1");
+ squareModel->getMesh()->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
square = std::make_shared<smStaticSceneObject>();
+ square->setModel(cubeModel);
//Setup an FBO for rendering in the viewer.
- //Create a color and depth texture for the FBO
- smTextureManager::createColorTexture("colorTex1", 64, 64);
- smTextureManager::createDepthTexture("depthTex1", 64, 64);
//Add the FBO and textures to the viewer
viewer->addFBO("fbo1",
smTextureManager::getTexture("colorTex1"),
smTextureManager::getTexture("depthTex1"),
64, 64);
- square->mesh->loadMesh("models/square.obj", SM_FILETYPE_OBJ);
- square->mesh->assignTexture("colorTex1");
- square->mesh->getRenderDetail()->renderType = (SIMMEDTK_RENDER_FACES | SIMMEDTK_RENDER_TEXTURE);
-
//Add the square to the scene
scene2->addSceneObject(square);
diff --git a/include/smCollision/smMeshCollisionModel.h b/include/smCollision/smMeshCollisionModel.h
index 50b7d74fc2f22a4ce560dba68e5b71e65bd95342..842ecce45085c85354ba5010498ab52a6151ffa2 100644
--- a/include/smCollision/smMeshCollisionModel.h
+++ b/include/smCollision/smMeshCollisionModel.h
@@ -100,7 +100,7 @@ public:
void draw() override
{
- this->mesh->draw();
+// this->mesh->draw();
}
private:
diff --git a/include/smCollision/smPlaneCollisionModel.h b/include/smCollision/smPlaneCollisionModel.h
index 69c2a44d6f798a3491edf07f3a61468ed654c5ac..3aace4b10fe74bcee44515a9b0077bfd280751c8 100644
--- a/include/smCollision/smPlaneCollisionModel.h
+++ b/include/smCollision/smPlaneCollisionModel.h
@@ -20,6 +20,9 @@
#include <memory>
+// Eigen include
+#include<Eigen/Geometry>
+
#include "smCore/smGeometry.h"
#include "smCore/smModelRepresentation.h"
diff --git a/include/smContactHandling/smContactHandling.h b/include/smContactHandling/smContactHandling.h
index 9004fad823492ee8d001543e2daa4e8a92f2f87b..5e6ab1677ba1820bcbc516f9bff72d33ad1841a7 100644
--- a/include/smContactHandling/smContactHandling.h
+++ b/include/smContactHandling/smContactHandling.h
@@ -30,26 +30,29 @@
// SimMedTK includes
#include "smCore/smCoreClass.h"
#include "smContactHandling/smContactConfig.h"
+#include "smCore/smSceneObject.h"
class smMesh;
class smCollisionPair;
+enum 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
+};
+
/// \brief Base class to for handling contact for collision response
/// Input: collision pairs containig the collision information
/// Output: contact forces or Jacobians or projection/PBD constraints
class smContactHandling: public smCoreClass
{
public:
- enum 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
- };
+
smContactHandling() {};
diff --git a/include/smContactHandling/smPenaltyContactHandling.h b/include/smContactHandling/smPenaltyContactHandling.h
index a6292368ded4f8ec67ae6ca81349cb97b852e450..85c02c1ea8cbf1b94b78588797eeee846e4a0921 100644
--- a/include/smContactHandling/smPenaltyContactHandling.h
+++ b/include/smContactHandling/smPenaltyContactHandling.h
@@ -26,23 +26,28 @@
#define SMPENALTY_CONTACTHANDLING_H
// SimMedTK includes
-#include "smCollision/smContactHandling.h"
+#include "smContactHandling/smContactHandling.h"
+#include "smCollision/smCollisionPair.h"
class smCollisionPair;
///
/// @brief Penalty based for contact handling
///
-class smPenaltyCollisionHandling : public smContactHandling
+class smPenaltyContactHandling : public smContactHandling
{
public:
- smPenaltyCollisionHandling(smContactHandlingType contactHandlingType);
+ smPenaltyContactHandling(bool typeBilateral);
- smPenaltyCollisionHandling(smContactHandlingType contactHandlingType,
+ smPenaltyContactHandling(bool typeBilateral,
const std::shared_ptr<smSceneObject>& sceneObjFirst,
const std::shared_ptr<smSceneObject>& sceneObjSecond);
- virtual ~smPenaltyCollisionHandling() {};
+ smContactHandlingType getContactHandlingType() const;
+
+ void resolveContacts();
+
+ virtual ~smPenaltyContactHandling() {};
private:
diff --git a/include/smCore/smCoreClass.h b/include/smCore/smCoreClass.h
index 8344f55a3b4df9360d8ba96d1183b636cb16919a..5519a9d5322b8ecc7b8667c600a3c1493d338448 100644
--- a/include/smCore/smCoreClass.h
+++ b/include/smCore/smCoreClass.h
@@ -120,7 +120,7 @@ public:
///
/// \brief draw function is called for visualization the object
///
- virtual void draw();
+// virtual void draw();
///
/// \brief initialization of simulation
diff --git a/include/smCore/smGeometry.h b/include/smCore/smGeometry.h
index 54df944616640ee1a1c5452c0399fc6137d7168d..36d6c5b4d091a578fa58f088e15c02421eae09db 100644
--- a/include/smCore/smGeometry.h
+++ b/include/smCore/smGeometry.h
@@ -38,10 +38,11 @@ public:
smAnalyticalGeometry(){}
~smAnalyticalGeometry(){}
- virtual void translate(const smVec3d t)=0;
- virtual void rotate(const smMatrix33d &rot)=0;
+ void translate(const smVec3d t)=0;
+ void rotate(const smMatrix33d &rot)=0;
+
+ void draw()=0;
- virtual void draw()=0;
};
/// \brief Simple Plane definition with unit normal and spatial location
@@ -105,7 +106,10 @@ public:
}
private:
+ /// \brief unit normal of the plane
smVec3d unitNormal;
+
+ /// \brief any point on the plane
smVec3d point;
};
@@ -116,7 +120,7 @@ class smSphere : public smAnalyticalGeometry
public:
/// \brief constructor
smSphere();
-
+
/// \brief sphere constructor with center and radius
smSphere(const smVec3d &c, const double &r)
{
@@ -124,7 +128,7 @@ public:
this->radius = r;
}
- ~smSphere();
+ ~smSphere(){}
void setRadius(const double r)
{
@@ -141,7 +145,7 @@ public:
this->radius += r;
}
- void translate(const smVec3d t)
+ void translate(const smVec3d &t)
{
center += t;
}
diff --git a/include/smCore/smModelRepresentation.h b/include/smCore/smModelRepresentation.h
index 30725a38ee728b33dc621a77e8398e1c0a798a54..1ec9ef018f8ab42d595f31c5af8ae2fcf885a829 100644
--- a/include/smCore/smModelRepresentation.h
+++ b/include/smCore/smModelRepresentation.h
@@ -41,10 +41,10 @@ public:
smModelRepresentation(){}
~smModelRepresentation(){}
- virtual std::shared_ptr<smMesh> getMesh() = 0;
- virtual std::shared_ptr<smCoreClass> getObject() = 0;
+ virtual std::shared_ptr<smMesh> getMesh(){}
+ virtual std::shared_ptr<smCoreClass> getObject(){}
- virtual void draw() = 0;
+ virtual void draw(){}
};
#endif // SMMODELREPRESENTATION_H
diff --git a/include/smCore/smSDK.h b/include/smCore/smSDK.h
index 7fc314c73f0a8ae80cd29b040710fc56d0323ec4..d72273b5dbe01f250acf0afd2c72f67446e9f8b2 100644
--- a/include/smCore/smSDK.h
+++ b/include/smCore/smSDK.h
@@ -46,6 +46,7 @@ class smMotionTransformer;
class smPipe;
template<typename T> class smIndiceArray;
class smScene;
+
/// \brief module registration
enum smSDKReturnType
{
@@ -56,6 +57,7 @@ enum smSDKReturnType
struct smBaseHolder
{
};
+
/// \brief mesh holder
struct smMeshHolder: public smBaseHolder
{
@@ -72,6 +74,7 @@ struct smMeshHolder: public smBaseHolder
return mesh == p_param.mesh;
}
};
+
/// \brief module holder
struct smModuleHolder: public smBaseHolder
{
@@ -88,6 +91,7 @@ struct smModuleHolder: public smBaseHolder
return module == p_param.module;
}
};
+
/// \brief simulator holder
struct smObjectSimulatorHolder: public smBaseHolder
{
@@ -104,6 +108,7 @@ struct smObjectSimulatorHolder: public smBaseHolder
return objectSim == p_param.objectSim;
}
};
+
/// \brief scene holders
struct smSceneHolder: public smBaseHolder
{
@@ -119,6 +124,7 @@ struct smSceneHolder: public smBaseHolder
}
};
+
/// \brief scene object holder
struct smSceneObjectHolder: public smBaseHolder
{
@@ -135,6 +141,7 @@ struct smSceneObjectHolder: public smBaseHolder
}
};
+
/// \brief pipe holder
struct smPipeHolder: public smBaseHolder
{
@@ -157,6 +164,7 @@ struct smPipeHolder: public smBaseHolder
}
};
+
/// \brief SDK class. it is a singlenton class for each machine runs the framework
class smSDK: public smCoreClass
{
@@ -187,27 +195,7 @@ private:
std::vector<std::thread> modules; ///< Stores a list of running module threads
/// \brief constructor
- smSDK()
- {
- shutdown = false;
- sceneIdCounter = 1;
- isModulesStarted = false;
- type = SIMMEDTK_SMSDK;
- viewer = nullptr;
- simulator = nullptr;
- sceneList.clear();
-
- errorLog = std::make_shared<smErrorLog>();
-
- // 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);
- pipesRef = new smIndiceArray<smPipeHolder>(SIMMEDTK_SDK_MAXSCENEOBJTECTS);
- }
+ smSDK();
public:
/// \brief destructor
@@ -228,12 +216,19 @@ public:
///for now both functions below are the same. But it maybe subject to change.
static std::shared_ptr<smSDK> createSDK();
+ ///Creates the sdk, viewer and scene 0
+ std::shared_ptr<smSDK> createStandardSDK();
+
static std::shared_ptr<smSDK> getInstance();
/// \brief Registers a viewer object with the SDK
///
void addViewer(std::shared_ptr<smViewer> p_viewer);
+ /// \brief Creates and registers a viewer object with the SDK
+ ///
+ std::shared_ptr<smViewer> createViewer();
+
///SDK returns a pointer to the viewer
std::shared_ptr<smViewer> getViewerInstance();
@@ -241,19 +236,13 @@ public:
std::shared_ptr<smSimulator> createSimulator();
///SDK creates simualtor
- std::shared_ptr<smSimulator> getSimulator()
- {
- return this->simulator;
- }
+ std::shared_ptr<smSimulator> getSimulator();
///SDK creates scene
std::shared_ptr<smScene> createScene();
///SDK returns logger for the system
- std::shared_ptr<smErrorLog> getErrorLog()
- {
- return errorLog;
- };
+ std::shared_ptr<smErrorLog> getErrorLog();
///terminates every module. Do it later on with smMessager
void terminateAll();
@@ -271,71 +260,27 @@ public:
void removeRef(std::shared_ptr<smCoreClass> p_coreClass);
/// \brief register functions
- smInt registerMesh(std::shared_ptr<smBaseMesh> p_mesh)
- {
- smMeshHolder mh;
- mh.mesh = p_mesh;
- return meshesRef->checkAndAdd(mh);
- }
+ smInt registerMesh(std::shared_ptr<smBaseMesh> p_mesh);
- smInt registerModule(std::shared_ptr<smModule> p_mod)
- {
- smModuleHolder mh;
- mh.module = p_mod;
- return modulesRef->checkAndAdd(mh);
- }
+ smInt registerModule(std::shared_ptr<smModule> p_mod);
- void registerObjectSim(std::shared_ptr<smObjectSimulator> p_os)
- {
- smObjectSimulatorHolder os;
- os.objectSim = p_os;
- objectSimulatorsRef->checkAndAdd(os);
- }
+ void registerObjectSim(std::shared_ptr<smObjectSimulator> p_os);
- void registerCollDet(std::shared_ptr<smObjectSimulator> p_col)
- {
- smObjectSimulatorHolder col;
- col.objectSim = p_col;
- collisionDetectorsRef->checkAndAdd(col);
- }
+ void registerCollDet(std::shared_ptr<smObjectSimulator> p_col);
- void registerScene(std::shared_ptr<smScene> p_sc)
- {
- smSceneHolder sc;
- sc.scene = p_sc;
- scenesRef->checkAndAdd(sc);
- }
+ void registerScene(std::shared_ptr<smScene> p_sc);
- void registerSceneObject(std::shared_ptr<smSceneObject> p_sco)
- {
- smSceneObjectHolder sh;
- sh.sceneObject = p_sco;
- sceneObjectsRef->checkAndAdd(sh);
- }
+ void registerSceneObject(std::shared_ptr<smSceneObject> p_sco);
- /// \brief getter functions
+ void addSceneActor(std::shared_ptr<smSceneObject> p_sco, std::shared_ptr<smObjectSimulator> p_os, int p_scId=0);
- smPipe* getPipeByName(smString p_name)
- {
- return (pipesRef->getByRef(p_name).pipe);
- }
+ smPipe* getPipeByName(smString p_name);
/// \brief register pipe
- void registerPipe(smPipe*p_pipe)
- {
- smPipeHolder ph;
- ph.pipe = p_pipe;
- pipesRef->checkAndAdd(ph);
- }
+ void registerPipe(smPipe*p_pipe);
/// \brief create a pipe
- smPipe *createPipe(smString p_pipeName, smInt p_elementSize, smInt p_size)
- {
- smPipe *pipe;
- pipe = new smPipe(p_pipeName, p_elementSize, p_size);
- registerPipe(pipe);
- return pipe;
- }
+ smPipe* createPipe(smString p_pipeName, smInt p_elementSize, smInt p_size);
};
#endif
diff --git a/include/smCore/smSceneObject.h b/include/smCore/smSceneObject.h
index 3018bc15570451327d4811a9d1325b43a139dd5e..2af400c0a38a4edc8f1b9f0ed7ce13d256c8c6ff 100644
--- a/include/smCore/smSceneObject.h
+++ b/include/smCore/smSceneObject.h
@@ -57,6 +57,7 @@ class smSceneObject: public smCoreClass
public:
/// \brief constructor
smSceneObject();
+ ~smSceneObject(){}
/// \brief returns object id
smInt getObjectId()
diff --git a/include/smCore/smStaticSceneObject.h b/include/smCore/smStaticSceneObject.h
index 27f1e2d955b2e72c2a04449cbfd976764429d0dd..44f6226c900f76cfd7ebe78d0158a591f4a10be6 100644
--- a/include/smCore/smStaticSceneObject.h
+++ b/include/smCore/smStaticSceneObject.h
@@ -30,6 +30,7 @@
#include "smCore/smSceneObject.h"
#include "smMesh/smSurfaceMesh.h"
#include "smCore/smCoreClass.h"
+#include "smCore/smModelRepresentation.h"
namespace smtk{
namespace Event{
diff --git a/include/smMesh/smMesh.h b/include/smMesh/smMesh.h
index 9b4ef1d912f3ab1c51a004d8058ade855f9c2056..579958952da953a538584e4d6cf7dfa66aa856fc 100644
--- a/include/smMesh/smMesh.h
+++ b/include/smMesh/smMesh.h
@@ -38,7 +38,7 @@
#include "smCore/smGeometry.h"
//VEGA includes
-// #include "objMesh.h"
+#include "objMesh.h"
#define SIMMEDTK_MESH_AABBSKINFACTOR 0.1 ///Bounding box skin value
#define SIMMEDTK_MESH_RESERVEDMAXEDGES 6000 ///this value is initially allocated buffer size for thge edges
@@ -197,16 +197,13 @@ public:
virtual smBool loadMesh(const smString& fileName, const smMeshFileType &fileType) = 0;
/// \brief load the mesh
-// bool importSurfaceMeshDataFromVEGA_Format(objMesh *vegaSurfaceMesh, bool perProcessingStage);
+ bool importSurfaceMeshDataFromVEGA_Format(const ObjMesh* const vegaSurfaceMesh, const bool perProcessingStage);
- /// \brief render the surface mesh
- virtual void draw(const smDrawParam &p_params) override;
+ /// \brief update the surface mesh data after the deformation
+ void updateSurfaceMeshDataFromVEGA_Format(const ObjMesh* const vegaSurfaceMesh);
/// \brief render the surface mesh
- virtual void draw() override
- {
-
- }
+ virtual void draw(const smDrawParam &/*p_params*/) override;
public:
smInt nbrTriangles; ///< number of triangles
diff --git a/include/smMesh/smVolumeMesh.h b/include/smMesh/smVolumeMesh.h
index edc21b061e9f387022628a414015b4ca9ce745c1..323e38699b9b3c19ed0bcfe46191a5606217a800 100644
--- a/include/smMesh/smVolumeMesh.h
+++ b/include/smMesh/smVolumeMesh.h
@@ -28,7 +28,7 @@
#include "smMesh/smMesh.h"
// VEGA includes
-// #include "volumetricMesh.h"
+#include "volumetricMesh.h"
/// \brief this class is derived from generic Mesh class. Tetrahedron are building blocks of this volume mesh.
/// It also retains the surface triangle structure for rendering and collision detection purposes.
@@ -76,7 +76,10 @@ public:
smBool loadMesh(const smString& fileName, const smMeshFileType &fileType);
/// \brief populate the mesh data from the vega volumetric mesh file format
-// void importVolumeMeshDataFromVEGA_Format(VolumetricMesh *vega3dMesh, bool perProcessingStage);
+ void importVolumeMeshDataFromVEGA_Format(const std::shared_ptr<const VolumetricMesh> vega3dMesh, const bool preProcessingStage);
+
+ /// \brief update the mesh data from the vega volumetric mesh after deformation happens
+ void updateVolumeMeshDataFromVEGA_Format(const std::shared_ptr<const VolumetricMesh> vega3dMesh);
public:
/// push smMesh class specific errors here
diff --git a/include/smSimulators/smFemSceneObject.h b/include/smSimulators/smFemSceneObject.h
index aa3ca0e4ecc12d0c2cc90e182f7a1de35d5760b7..69b8ec2a718b7823a956bc2672e5ede0955ceb3b 100644
--- a/include/smSimulators/smFemSceneObject.h
+++ b/include/smSimulators/smFemSceneObject.h
@@ -43,7 +43,20 @@ class smFemSceneObject: public smSceneObject
{
public:
/// \brief constructor
- smFemSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr);
+ smFemSceneObject(std::shared_ptr<smErrorLog> p_log = nullptr)
+ {
+ type = SIMMEDTK_SMFEMSCENEOBJECT;
+ v_mesh = new smVolumeMesh( SMMESH_DEFORMABLE, p_log );
+ pullUp = true;
+ dynamicFem = false;
+
+ if ( dynamicFem )
+ {
+ dT = 0.02;
+ density = 500;
+ }
+ }
+ ~smFemSceneObject(){}
/// \brief build FEM LM matrix
void buildLMmatrix();
@@ -87,6 +100,8 @@ public:
/// \brief !! This function does not clone!, it simply returns a pointer...this is dangerous
virtual std::shared_ptr<smSceneObject> clone() override;
+ virtual void init();
+
public:
//fem objetc has two representations: surface and volume
smVolumeMesh *v_mesh; ///< volume mesh
diff --git a/include/smSimulators/smVegaFemSceneObject.h b/include/smSimulators/smVegaFemSceneObject.h
index e097308754c004b708e87a29de696a86c18cb434..65ea4be8f18d6f7cfaff3a64ecab7da0a7a98978 100644
--- a/include/smSimulators/smVegaFemSceneObject.h
+++ b/include/smSimulators/smVegaFemSceneObject.h
@@ -155,28 +155,20 @@ public:
/// \brief draws cartesian axis
void drawAxes(double axisLength);
- /// \brief
- virtual void serialize(void *) override
- {
- //add code in future
- }
-
- /// \brief
- virtual void unSerialize(void *) override
- {
-
- }
-
- /// \brief not implemented yet.
+ /*/// \brief not implemented yet.
virtual std::shared_ptr<smSceneObject> clone() override
{
return safeDownCast<smSceneObject>();
- }
+ }*/
+
+ void setRenderUsingVega(const bool vegaRender);
/// \brief Displays the fem object with primary or secondary mesh, fixed vertices,
/// vertices interacted with, ground plane etc.
virtual void draw(const smDrawParam &p_params) override;
+ void renderWithVega();
+
virtual void init() override {}
public:
@@ -206,6 +198,8 @@ public:
PerformanceCounter cpuLoadCounter;
int timestepCounter;
int subTimestepCounter;
+ bool renderUsingVega;
+ bool importAndUpdateVolumeMeshToSmtk;
/// Force models, time integrators, sparse matrices and meshes.
/// some variable names are self explainatory
@@ -253,6 +247,9 @@ public:
std::shared_ptr<SceneObjectDeformable> deformableObjectRenderingMesh;
std::shared_ptr<SceneObjectDeformable> secondaryDeformableObjectRenderingMesh;
+
+ std::shared_ptr<smVolumeMesh> smtkVolumeMesh;
+ std::shared_ptr<smSurfaceMesh> smtkSurfaceMesh;
};
#endif
diff --git a/src/smCollision/CMakeLists.txt b/src/smCollision/CMakeLists.txt
index eca51a342242380de83d1c76b92523e1523d0dba..da8e11786f6b16faf7e317e0f1c9b332c2620841 100644
--- a/src/smCollision/CMakeLists.txt
+++ b/src/smCollision/CMakeLists.txt
@@ -12,6 +12,7 @@ simmedtk_add_library(smCollision
smMeshCollisionModel.cpp
smMeshToMeshCollision.cpp
smPlaneToMeshCollision.cpp
+ smPlaneCollisionModel.cpp
PUBLIC_HEADERS
${CMAKE_SOURCE_DIR}/include/smCollision/smCollisionConfig.h
${CMAKE_SOURCE_DIR}/include/smCollision/smCollisionDetection.h
diff --git a/src/smCollision/smPlaneCollisionModel.cpp b/src/smCollision/smPlaneCollisionModel.cpp
index 0f2f20454433c72924f626ecf4e5a2112467bd32..dbd679ae88c6f3a39ce692ce632a679eaba313e7 100644
--- a/src/smCollision/smPlaneCollisionModel.cpp
+++ b/src/smCollision/smPlaneCollisionModel.cpp
@@ -28,7 +28,7 @@ void smPlaneCollisionModel::draw()
}
const smVec3d& smPlaneCollisionModel::getNormal() const
{
- return this->transform.linear() * this->plane->getUnitNormal();
+// return this->transform.linear() * this->plane->getUnitNormal();
}
void smPlaneCollisionModel::setNormal(const smVec3d& normal)
{
diff --git a/src/smContactHandling/smContactHandling.cpp b/src/smContactHandling/smContactHandling.cpp
index b58a11876f25c90d1213f4664f59d7dad14f798b..40df497378b1387a3a9d0a40b716e627201b0edf 100644
--- a/src/smContactHandling/smContactHandling.cpp
+++ b/src/smContactHandling/smContactHandling.cpp
@@ -30,28 +30,28 @@ void smContactHandling::setSceneObjects(const std::shared_ptr< smSceneObject >&
this->collidingSceneObjects.second = second;
}
-void setCollisionPairs(const std::shared_ptr< smCollisionPair >& colPair)
+void smContactHandling::setCollisionPairs(const std::shared_ptr< smCollisionPair >& colPair)
{
this->collisionPairs = colPair;
}
-std::shared_ptr<smCollisionPair> getCollisionPairs() const
+std::shared_ptr<smCollisionPair> smContactHandling::getCollisionPairs() const
{
return this->collisionPairs;
}
-smContactHandlingType smContactHandling::getContactHandlingType()
+smContactHandlingType smContactHandling::getContactHandlingType() const
{
return this->contactHandlingType;
}
-std::shared_ptr<smSceneObject> smContactHandling::getFirstSceneObject()
+std::shared_ptr<smSceneObject> smContactHandling::getFirstSceneObject() const
{
return this->collidingSceneObjects.first;
}
-std::shared_ptr<smSceneObject> smContactHandling::getSecondSceneObject()
+std::shared_ptr<smSceneObject> smContactHandling::getSecondSceneObject() const
{
return this->collidingSceneObjects.second;
}
diff --git a/src/smContactHandling/smPenaltyContactHandling.cpp b/src/smContactHandling/smPenaltyContactHandling.cpp
index a03fb3218cc93920216c322ec84ac8f2d81f8971..c3c15d74c23526d15fb7512d1a488345602a2ba9 100644
--- a/src/smContactHandling/smPenaltyContactHandling.cpp
+++ b/src/smContactHandling/smPenaltyContactHandling.cpp
@@ -21,18 +21,22 @@
// Contact:
//---------------------------------------------------------------------------
-#include "smCollision/smContactHandling.h"
+#include "smContactHandling/smPenaltyContactHandling.h"
#include "smSimulators/smVegaFemSceneObject.h"
-smPenaltyCollisionHandling(bool typeBilateral)
+smPenaltyContactHandling::smPenaltyContactHandling(bool typeBilateral)
{
if (typeBilateral)
- contactHandlingType = SIMMEDTK_CONTACT_PENALTY_UNILATERAL;
- else
+ {
contactHandlingType = SIMMEDTK_CONTACT_PENALTY_BILATERAL;
+ }
+ else
+ {
+ contactHandlingType = SIMMEDTK_CONTACT_PENALTY_UNILATERAL;
+ }
}
-smPenaltyCollisionHandling(smContactHandlingType contactHandlingType,
+smPenaltyContactHandling::smPenaltyContactHandling(bool typeBilateral,
const std::shared_ptr<smSceneObject>& sceneObjFirst,
const std::shared_ptr<smSceneObject>& sceneObjSecond)
{
@@ -45,14 +49,14 @@ smPenaltyCollisionHandling(smContactHandlingType contactHandlingType,
this->collidingSceneObjects.second = sceneObjSecond;
}
-smContactHandlingType smPenaltyCollisionHandling::getContactHandlingType()
+smContactHandlingType smPenaltyContactHandling::getContactHandlingType() const
{
return contactHandlingType;
}
-void smPenaltyCollisionHandling::processContacts()
+void smPenaltyContactHandling::resolveContacts()
{
- if (typeBilateral)
+ if (contactHandlingType == SIMMEDTK_CONTACT_PENALTY_UNILATERAL)
{
computeUnilateralContactForces();
}
@@ -62,7 +66,7 @@ void smPenaltyCollisionHandling::processContacts()
}
}
-void smPenaltyCollisionHandling::computeUnilateralContactForces()
+void smPenaltyContactHandling::computeUnilateralContactForces()
{
int penetratedNode, nodeDofID;
const double stiffness=1.0e5, damping=2000.0;
@@ -76,17 +80,23 @@ void smPenaltyCollisionHandling::computeUnilateralContactForces()
auto femSceneObject = std::static_pointer_cast<smVegaFemSceneObject>(this->getFirstSceneObject());
femSceneObject->setContactForcesToZero();
-
- for (int i = 0; i < this->getCollisionPairs()->size(); i++)
+ smVec3d force;
+ for (int i = 0; i < contactInfo.size(); i++)
{
- nodeDofID = 3*contactInfo->nodeIndex;
+ nodeDofID = 3*contactInfo[i]->index;
velocityProjection = smVec3d(femSceneObject->uvel[nodeDofID], femSceneObject->uvel[nodeDofID+1], femSceneObject->uvel[nodeDofID+2]);
- velocityProjection = contactInfo->normal*velocityProjection.transpose();
-
- femSceneObject->f_contact(nodeDofID ) += stiffness*contactInfo->depth*contactInfo->normal - damping*velocityProjection(0,0);
- femSceneObject->f_contact(nodeDofID + 1) += stiffness*contactInfo->depth*contactInfo->normal - damping*velocityProjection(0,1);
- femSceneObject->f_contact(nodeDofID + 2) += stiffness*contactInfo->depth*contactInfo->normal - damping*velocityProjection(0,2);
+ velocityProjection = contactInfo[i]->normal.dot(velocityProjection)*contactInfo[i]->normal;
+
+ force = stiffness*contactInfo[i]->depth*contactInfo[i]->normal - damping*velocityProjection;
+
+ femSceneObject->f_contact[nodeDofID] += force(0);
+ femSceneObject->f_contact[nodeDofID + 1] += force(1);
+ femSceneObject->f_contact[nodeDofID + 2] += force(2);
+
+// femSceneObject->f_contact[nodeDofID] += (stiffness*contactInfo[i]->depth)*contactInfo[i]->normal - damping*velocityProjection(0);
+// femSceneObject->f_contact[nodeDofID + 1] += (stiffness*contactInfo[i]->depth)*contactInfo[i]->normal - damping*velocityProjection(1);
+// femSceneObject->f_contact[nodeDofID + 2] += (stiffness*contactInfo[i]->depth)*contactInfo[i]->normal - damping*velocityProjection(2);
}
@@ -95,7 +105,7 @@ void smPenaltyCollisionHandling::computeUnilateralContactForces()
}
-void smPenaltyCollisionHandling::computeBilateralContactForces()
+void smPenaltyContactHandling::computeBilateralContactForces()
{
diff --git a/src/smCore/CMakeLists.txt b/src/smCore/CMakeLists.txt
index f120b92736644d16bb68482b31f3d16f9d045ed7..a7946862628f112db088d86c7d231e0faab899ea 100644
--- a/src/smCore/CMakeLists.txt
+++ b/src/smCore/CMakeLists.txt
@@ -48,7 +48,8 @@ target_link_libraries(smCore
GLUT::GLUT
${OPENGL_LIBRARY}
sfml::graphics
- INTERFACE
+ VegaFEM::objMesh
+ VegaFEM::volumetricMesh
)
if(NOT MSVC)
diff --git a/src/smCore/smCoreClass.cpp b/src/smCore/smCoreClass.cpp
index f013ad14f89b4ad5837a1e6099533e3876e6bd9e..42248a51c663f542676fb696cd1301517de13282 100644
--- a/src/smCore/smCoreClass.cpp
+++ b/src/smCore/smCoreClass.cpp
@@ -97,3 +97,8 @@ const std::string &smCoreClass::getName() const
{
return name;
}
+// void smCoreClass::draw()
+// {
+// std::cout << "Default draw function called. Nothing drawn." << std::endl;
+// }
+
diff --git a/src/smCore/smSDK.cpp b/src/smCore/smSDK.cpp
index 850b076df086a5d10bf506c19038457860c5602c..e6d45348e4fc6debc99ea8566b72129d5bd2ca8c 100644
--- a/src/smCore/smSDK.cpp
+++ b/src/smCore/smSDK.cpp
@@ -41,6 +41,33 @@ smIndiceArray<smSceneObjectHolder>*smSDK::sceneObjectsRef;
smIndiceArray<smMotionTransformer*> *smSDK::motionTransRef;
smIndiceArray<smPipeHolder> *smSDK::pipesRef;
+/// \brief constructor
+smSDK::smSDK()
+{
+ shutdown = false;
+ sceneIdCounter = 1;
+ isModulesStarted = false;
+ type = SIMMEDTK_SMSDK;
+ viewer = nullptr;
+ simulator = nullptr;
+ sceneList.clear();
+
+ errorLog = std::make_shared<smErrorLog>();
+
+ // 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);
+ pipesRef = new smIndiceArray<smPipeHolder>(SIMMEDTK_SDK_MAXSCENEOBJTECTS);
+}
+
+smSDK::~smSDK()
+{
+ std::cout << "Killing SDK" << std::endl;
+}
/// \brief creates the scene of the simulator
std::shared_ptr<smScene> smSDK::createScene()
@@ -56,9 +83,13 @@ void smSDK::releaseScene(std::shared_ptr<smScene> scene)
scene.reset();
}
-smSDK::~smSDK()
+std::shared_ptr<smViewer> smSDK::createViewer()
{
- std::cout << "Killing SDK" << std::endl;
+ this->viewer = std::make_shared<smViewer>();
+ this->viewer->log = this->errorLog;
+ this->registerModule(this->viewer);
+
+ return this->viewer;
}
void smSDK::addViewer(std::shared_ptr<smViewer> p_viewer)
@@ -181,10 +212,34 @@ std::shared_ptr<smSDK> smSDK::createSDK()
return sdk;
}
+std::shared_ptr<smSDK> smSDK::createStandardSDK()
+{
+ static std::shared_ptr<smSDK> sdk; ///< singleton sdk.
+
+ std::call_once(sdkCallOnceFlag,
+ []
+ {
+ sdk.reset(new smSDK);
+ });
+
+ auto scene = std::make_shared<smScene>(errorLog);
+ registerScene(scene);
+ scene->setName("Scene" + std::to_string(scene->getUniqueId()->getId()));
+
+ viewer = std::make_shared<smViewer>();
+ viewer->log = this->errorLog;
+ registerModule(this->viewer);
+
+ createSimulator();
+
+ return sdk;
+}
+
std::shared_ptr<smSDK> smSDK::getInstance()
{
return smSDK::createSDK();
}
+
void smSDK::terminateAll()
{
@@ -206,3 +261,93 @@ void smSDK::terminateAll()
}
}
}
+
+/// \brief register functions
+smInt smSDK::registerMesh(std::shared_ptr<smBaseMesh> p_mesh)
+{
+ smMeshHolder mh;
+ mh.mesh = p_mesh;
+ return meshesRef->checkAndAdd(mh);
+}
+
+smInt smSDK::registerModule(std::shared_ptr<smModule> p_mod)
+{
+ smModuleHolder mh;
+ mh.module = p_mod;
+ return modulesRef->checkAndAdd(mh);
+}
+
+void smSDK::registerObjectSim(std::shared_ptr<smObjectSimulator> p_os)
+{
+ smObjectSimulatorHolder os;
+ os.objectSim = p_os;
+ objectSimulatorsRef->checkAndAdd(os);
+}
+
+void smSDK::registerCollDet(std::shared_ptr<smObjectSimulator> p_col)
+{
+ smObjectSimulatorHolder col;
+ col.objectSim = p_col;
+ collisionDetectorsRef->checkAndAdd(col);
+}
+
+void smSDK::registerScene(std::shared_ptr<smScene> p_sc)
+{
+ smSceneHolder sc;
+ sc.scene = p_sc;
+ scenesRef->checkAndAdd(sc);
+}
+
+void smSDK::registerSceneObject(std::shared_ptr<smSceneObject> p_sco)
+{
+ smSceneObjectHolder 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)
+{
+ assert(p_os);
+ assert(p_sco);
+
+ p_sco->attachObjectSimulator(p_os);
+
+ this->registerObjectSim(p_os);
+
+ this->registerSceneObject(p_sco);
+
+ sceneList[p_scId]->addSceneObject(p_sco);
+}
+
+smPipe* smSDK::getPipeByName(smString p_name)
+{
+ return (pipesRef->getByRef(p_name).pipe);
+}
+
+/// \brief register pipe
+void smSDK::registerPipe(smPipe*p_pipe)
+{
+ smPipeHolder ph;
+ ph.pipe = p_pipe;
+ pipesRef->checkAndAdd(ph);
+}
+
+/// \brief create a pipe
+smPipe* smSDK::createPipe(smString p_pipeName, smInt p_elementSize, smInt p_size)
+{
+ smPipe *pipe;
+ pipe = new smPipe(p_pipeName, p_elementSize, p_size);
+ registerPipe(pipe);
+ return pipe;
+}
+
+///SDK returns logger for the system
+std::shared_ptr<smErrorLog> smSDK::getErrorLog()
+{
+ return errorLog;
+};
+
+std::shared_ptr<smSimulator> smSDK::getSimulator()
+{
+ return this->simulator;
+}
\ No newline at end of file
diff --git a/src/smMesh/smLattice.cpp b/src/smMesh/smLattice.cpp
index 3a4cfaa51f78e4a0098080dd4e933886e68df3f3..d05b721affa0ab49a348e28c817f970766b2d97b 100644
--- a/src/smMesh/smLattice.cpp
+++ b/src/smMesh/smLattice.cpp
@@ -22,6 +22,7 @@
//---------------------------------------------------------------------------
#include "smMesh/smLattice.h"
+#include "smCollision/smMeshCollisionModel.h"
smLattice::smLattice()
{
@@ -244,7 +245,13 @@ void smLattice::addObject( smSceneObject *obj )
{
case SIMMEDTK_SMSTATICSCENEOBJECT:
{
- mesh = static_cast<smStaticSceneObject*>(obj)->mesh;
+ auto staticSceneObject = static_cast<smStaticSceneObject*>(obj);
+ auto model = std::static_pointer_cast<smMeshCollisionModel>(staticSceneObject->getModel());
+ if(nullptr == model)
+ {
+ break;
+ }
+ std::shared_ptr<smMesh> mesh = model->getMesh();
break;
}
default:
diff --git a/src/smMesh/smMesh.cpp b/src/smMesh/smMesh.cpp
index 82c75e2af50648c1f12a7435b059509bdee94ac5..d22855cda35ea865875a4ecfdeec4608acf2132c 100644
--- a/src/smMesh/smMesh.cpp
+++ b/src/smMesh/smMesh.cpp
@@ -841,11 +841,21 @@ bool smLineMesh::isMeshTextured()
return isTextureCoordAvailable;
}
-/*
-bool smMesh::importSurfaceMeshDataFromVEGA_Format(objMesh *vegaSurfaceMesh, bool perProcessingStage)
+void smMesh::updateSurfaceMeshDataFromVEGA_Format(const ObjMesh* const vegaSurfaceMesh)
{
+ //copy the vertex co-ordinates
+ for(smInt i=0; i<this->nbrVertices ; i++)
+ {
+ this->vertices[i][0] = vertices[i][0];
+ this->vertices[i][1] = vertices[i][1];
+ this->vertices[i][2] = vertices[i][2];
+ }
+}
- if(!vegaSurfaceMesh->isTriangularMesh())
+bool smMesh::importSurfaceMeshDataFromVEGA_Format(const ObjMesh* const vegaSurfaceMesh, const bool perProcessingStage)
+{
+
+ if(!vegaSurfaceMesh->isTriangularMesh())
{
if (this->log != nullptr)
{
@@ -864,7 +874,7 @@ bool smMesh::importSurfaceMeshDataFromVEGA_Format(objMesh *vegaSurfaceMesh, bool
smInt * numGroups;
smInt ** triangleGroups;
- vegaSurfaceMesh->exportGeometry(numVertices, vertices, numTriangles , triangles, numGroups, triangleGroups) ;
+ vegaSurfaceMesh->exportGeometry(numVertices, vertices, numTriangles , triangles, numGroups, triangleGroups);
this->nbrVertices = *numVertices;
this->nbrTriangles = *numTriangles;
@@ -915,4 +925,4 @@ bool smMesh::importSurfaceMeshDataFromVEGA_Format(objMesh *vegaSurfaceMesh, bool
return 1;
-}*/
+}
diff --git a/src/smMesh/smVolumeMesh.cpp b/src/smMesh/smVolumeMesh.cpp
index e206e20b22886d54ad31c61aa12eef580bf43a15..f9aba2adad8a08dafadee73a6fc20dd0d262b403 100644
--- a/src/smMesh/smVolumeMesh.cpp
+++ b/src/smMesh/smVolumeMesh.cpp
@@ -338,8 +338,22 @@ void smVolumeMesh::initSurface()
updateTriangleNormals();
updateVertexNormals();
}
-/*
-void smVolumeMesh::importVolumeMeshDataFromVEGA_Format(VolumetricMesh *vega3dMesh, bool perProcessingStage)
+
+void smVolumeMesh::updateVolumeMeshDataFromVEGA_Format(const std::shared_ptr<const VolumetricMesh> vega3dMesh)
+{
+ smInt i, threeI;
+
+ //copy the nodal co-ordinates
+ for(i=0; i<this->nbrVertices ; i++)
+ {
+ threeI = 3*i;
+ /*this->nodes[i][0] = (*nodes)[threeI];
+ this->nodes[i][1] = (*nodes)[threeI+1];
+ this->nodes[i][2] = (*nodes)[threeI+2];*/
+ }
+}
+
+void smVolumeMesh::importVolumeMeshDataFromVEGA_Format(const std::shared_ptr<const VolumetricMesh> vega3dMesh, const bool preProcessingStage)
{
smInt i, threeI, j;
@@ -374,7 +388,8 @@ void smVolumeMesh::importVolumeMeshDataFromVEGA_Format(VolumetricMesh *vega3dMes
this->nodes[i][2] = (*nodes)[threeI+2];
}
- if(perProcessingStage){
+ if(preProcessingStage)
+ {
// do something here!
}
@@ -396,7 +411,6 @@ void smVolumeMesh::importVolumeMeshDataFromVEGA_Format(VolumetricMesh *vega3dMes
delete [] nodes;
}
-*/
/// \brief destructor
smVolumeMesh::~smVolumeMesh()
diff --git a/src/smSimulators/smFemSceneObject.cpp b/src/smSimulators/smFemSceneObject.cpp
index 03cd65d817947226c62bc7f2f4cf8cf2510f7144..732658a312c0b0c61ffde1e1d96f68a520b9f600 100644
--- a/src/smSimulators/smFemSceneObject.cpp
+++ b/src/smSimulators/smFemSceneObject.cpp
@@ -454,34 +454,13 @@ void smFemSceneObject::calculateDisplacements_Dynamic(smStdVector3d &vertices)
void smFemSceneObject::draw(const smDrawParam &p_params)
{
-// p_params.caller = this;
+ // p_params.caller = this;
this->v_mesh->draw(p_params);
}
-smFemSceneObject::smFemSceneObject( std::shared_ptr<smErrorLog> p_log )
-{
- type = SIMMEDTK_SMFEMSCENEOBJECT;
- v_mesh = new smVolumeMesh( SMMESH_DEFORMABLE, p_log );
- pullUp = true;
- dynamicFem = false;
-
- if ( dynamicFem )
- {
- dT = 0.02;
- density = 500;
- }
-}
std::shared_ptr<smSceneObject> smFemSceneObject::clone()
{
return safeDownCast<smSceneObject>();
}
-
-void smFemSceneObject::serialize( void */*p_memoryBlock*/ )
-{
-}
-
-void smFemSceneObject::unSerialize( void */*p_memoryBlock*/ )
-{
-
-}
+void smFemSceneObject::init() {}
diff --git a/src/smSimulators/smVegaFemSceneObject.cpp b/src/smSimulators/smVegaFemSceneObject.cpp
index 2e6a9b1e9d07c3cb26ad31efc4461d08d39d53b1..8f826122b4d942c0ef3855929427e233024e4da2 100644
--- a/src/smSimulators/smVegaFemSceneObject.cpp
+++ b/src/smSimulators/smVegaFemSceneObject.cpp
@@ -80,6 +80,9 @@ smVegaFemSceneObject::smVegaFemSceneObject(std::shared_ptr<smErrorLog>/*p_log*/,
secondaryDeformableObjectRenderingMesh_interpolation_vertices = nullptr;
secondaryDeformableObjectRenderingMesh_interpolation_weights = nullptr;
+ renderUsingVega = true;
+ importAndUpdateVolumeMeshToSmtk = false;
+
type = SIMMEDTK_SMFEMSCENEOBJECT;
femConfig = std::make_shared<smVegaConfigFemObject>();
@@ -169,6 +172,27 @@ void smVegaFemSceneObject::initSimulation()
setDeformableModel();
loadMeshes();
loadRenderingMesh();
+
+ if(importAndUpdateVolumeMeshToSmtk)
+ {
+ this->smtkVolumeMesh = std::make_shared<smVolumeMesh>();
+ this->smtkVolumeMesh->importVolumeMeshDataFromVEGA_Format(this->volumetricMesh, true);
+ }
+
+ if(!renderUsingVega)
+ {
+ this->smtkSurfaceMesh = std::make_shared<smSurfaceMesh>();
+ if(strcmp(femConfig->secondaryRenderingMeshFilename, "__none") == 0)
+ {
+ this->smtkSurfaceMesh->importSurfaceMeshDataFromVEGA_Format(this->deformableObjectRenderingMesh()->getMesh(), true);
+ }
+ else
+ {
+ this->smtkSurfaceMesh->importSurfaceMeshDataFromVEGA_Format(this->secondaryDeformableObjectRenderingMesh()->getMesh(), true);
+ }
+
+ }
+
loadFixedBC();
// make room for deformation and force vectors
@@ -943,6 +967,9 @@ void smVegaFemSceneObject::advanceDynamics()
// apply pre-defined external forces
applyScriptedExternalForces();
+ // apply external forces arising from contact
+ applyContactForces();
+
// set forces to the integrator
integratorBaseSparse->SetExternalForces(f_ext);
@@ -953,6 +980,11 @@ void smVegaFemSceneObject::advanceDynamics()
memcpy(u, integratorBase->Getq(), sizeof(double) * 3 * n);
+ if(importAndUpdateVolumeMeshToSmtk)
+ {
+ smtkVolumeMesh->updateVolumeMeshDataFromVEGA_Format(this->volumetricMesh);
+ }
+
if (femConfig->singleStepMode == 1)
{
femConfig->singleStepMode = 2;
@@ -979,6 +1011,19 @@ void smVegaFemSceneObject::advanceDynamics()
// update the secondary mesh
updateSecondaryRenderingMesh();
+ if(!renderUsingVega)
+ {
+
+ if(strcmp(femConfig->secondaryRenderingMeshFilename, "__none") == 0)
+ {
+ this->smtkSurfaceMesh->updateSurfaceMeshDataFromVEGA_Format(this->deformableObjectRenderingMesh()->getMesh());
+ }
+ else
+ {
+ this->smtkSurfaceMesh->updateSurfaceMeshDataFromVEGA_Format(this->secondaryDeformableObjectRenderingMesh()->getMesh());
+ }
+ }
+
// update stasts
updateStats();
@@ -1280,9 +1325,25 @@ inline void smVegaFemSceneObject::updateStats()
}
}
+void smVegaFemSceneObject::setRenderUsingVega(bool vegaRender)
+{
+ this->renderUsingVega = vegaRender;
+}
+
+void smVegaFemSceneObject::draw(const smDrawParam &p_params)
+{
+ if(!renderUsingVega)
+ {
+ smtkSurfaceMesh->draw();
+ }
+ else
+ {
+ renderWithVega();
+ }
+}
// Displays the fem object with primary or secondary mesh, fixed vertices, vertices interacted with, ground plane etc.
-void smVegaFemSceneObject::draw(const smDrawParam &/*p_params*/)
+void smVegaFemSceneObject::renderWithVega()
{
glEnable(GL_LIGHTING);
diff --git a/src/smUtilities/smGLUtils.cpp b/src/smUtilities/smGLUtils.cpp
index 67fa281abf4c089a08231eee43c29b45650df6de..f0fc8dc6c5e636f4f27fa8315306b9412e4ce380 100644
--- a/src/smUtilities/smGLUtils.cpp
+++ b/src/smUtilities/smGLUtils.cpp
@@ -69,13 +69,13 @@ void smGLUtils::fadeBackgroundDraw()
glLoadIdentity();
glOrtho(-1, 1, -1, 1, 0.1, 1.1);
glBegin(GL_POLYGON);
- glColor3f(0.219, 0.219, 0.435);
+ glColor3f(0.4, 0.4, 0.8);
glVertex3d(-1, -1, -1);
- glColor3f(0.219, 0.219, 0.435);
+ glColor3f(0.4, 0.4, 0.8);
glVertex3d(1, -1, -1);
- glColor3f(0.0, 0.0, 0.0);
+ glColor3f(0.1, 0.1, 0.2);
glVertex3d(1, 1, -1);
- glColor3f(0.0, 0.0, 0.0);
+ glColor3f(0.1, 0.1, 0.2);
glVertex3d(-1, 1, -1);
glEnd();
glEnable(GL_DEPTH_TEST);