diff --git a/Base/Collision/CMakeLists.txt b/Base/Collision/CMakeLists.txt
index 2d08c9227750aef01bcf228f1673161287a28ae2..5322eb1b193f659ba3f65c0168bb259e7a952272 100644
--- a/Base/Collision/CMakeLists.txt
+++ b/Base/Collision/CMakeLists.txt
@@ -12,6 +12,7 @@ imstk_add_library( Collision
#-----------------------------------------------------------------------------
# Testing
#-----------------------------------------------------------------------------
-if( iMSTK_BUILD_TESTING )
- add_subdirectory( Testing )
+if( BUILD_TESTING )
+ include(imstkAddTest)
+ imstk_add_test( Collision )
endif()
diff --git a/Base/Collision/CollisionData/imstkCollisionData.h b/Base/Collision/CollisionData/imstkCollisionData.h
index 16a784b74d4d05dcc53bb798bced5c466efdb1e7..bc93c0c08b27cf69cf4f0af617e6ee381802548c 100644
--- a/Base/Collision/CollisionData/imstkCollisionData.h
+++ b/Base/Collision/CollisionData/imstkCollisionData.h
@@ -22,6 +22,8 @@
#ifndef imstkCollisionData_h
#define imstkCollisionData_h
+#include <array>
+
// imstk
#include "imstkMath.h"
@@ -109,6 +111,25 @@ struct EdgeEdgeCollisionData
}
};
+///
+/// \struct PointTetrahedronCollisionData
+///
+/// \brief Point-tetrahedron collision data
+///
+struct PointTetrahedronCollisionData
+{
+ enum CollisionType {
+ aPenetratingA = 0, // A self-penetration
+ aPenetratingB = 1, // vertex is from mesh A, tetrahedron is from mesh B
+ bPenetratingA = 2, // vertex is from mesh B, tetrahedron is from mesh A
+ bPenetratingB = 3 // B self-penetration
+ } collisionType;
+ size_t vertexId;
+ size_t tetreahedronId;
+ using WeightsArray = std::array<double, 4>;
+ WeightsArray BarycentricCoordinates;
+};
+
///
/// \struct CollisionData
///
@@ -124,6 +145,8 @@ public:
VTColData.clear();
TVColData.clear();
EEColData.clear();
+ MAColData.clear();
+ PTColData.clear();
}
std::vector<PositionDirectionCollisionData> PDColData; ///< Position Direction collision data
@@ -131,6 +154,7 @@ public:
std::vector<TriangleVertexCollisionData> TVColData; ///< Triangle Vertex collision data
std::vector<EdgeEdgeCollisionData> EEColData; ///< Edge Edge collision data
std::vector<MeshToAnalyticalCollisionData> MAColData; ///< Mesh to analytical collision data
+ std::vector<PointTetrahedronCollisionData> PTColData; ///< Point Tetrahedron collision data
};
}
diff --git a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTable.h b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTable.h
index 14142d92d1b500e5b37ada2bceaf59a40bf9a139..a8bf1e6dfa1b76d1816e064d811cbf98d7c0008f 100644
--- a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTable.h
+++ b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTable.h
@@ -39,13 +39,13 @@ public:
/// \brief Protected constructor
/// \param x,y,z Dimensions for each cell
///
- virtual void setCellSize(double x, double y, double z);
+ virtual void setCellSize(double x, double y, double z) = 0;
protected:
///
/// \brief Rehash the hash table
///
- virtual void rehash();
+ virtual void rehash() = 0;
///
/// \brief Protected constructor
diff --git a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.cpp b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.cpp
index 70aa965ead796396581135f177a9b3e006301400..0db7450c69853571125a5042a918160366c6668d 100644
--- a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.cpp
+++ b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.cpp
@@ -109,10 +109,6 @@ SpatialHashTableSeparateChaining::getPointsInAABB(const Vec3d& corner1, const Ve
}
}
- //there is little need to waste time on this reallocation,
- //as this is a temporary return array
- //points.shrink_to_fit();
-
return points;
}
diff --git a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.h b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.h
index 49119c92cb26563a184a80df32983f74326374be..f627e56cfa5a57316a9d14245d6e58cfb27191b4 100644
--- a/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.h
+++ b/Base/Collision/CollisionDetection/DataStructures/imstkSpatialHashTableSeparateChaining.h
@@ -59,12 +59,12 @@ template<> struct equal_to<imstk::PointEntry>
{
size_t operator()(const imstk::PointEntry& point1, const imstk::PointEntry& point2) const
{
- if (point1.point != point2.point)
+ if (point1.ID != point2.ID)
{
return false;
}
- if (point1.ID != point2.ID)
+ if (point1.point != point2.point)
{
return false;
}
@@ -125,19 +125,13 @@ public:
/// \brief Protected constructor
/// \param x,y,z Dimensions for each cell
///
- virtual void setCellSize(double x, double y, double z);
+ virtual void setCellSize(double x, double y, double z) override;
protected:
///
/// \brief Rehash the hash table
///
- virtual void rehash();
-
- ///
- /// \brief Hash function
- /// \param point A point
- ///
- inline unsigned int generateHash(Vec3d point);
+ virtual void rehash() override;
float m_loadFactorMax = 10.0f;
diff --git a/Base/Collision/CollisionDetection/imstkTetraToTetraCD.cpp b/Base/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b64343db25f6cfc6a71998913af2a5e13e318d08
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkTetraToTetraCD.cpp
@@ -0,0 +1,117 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version B.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-B.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#include "imstkTetraToTetraCD.h"
+
+#include "imstkCollisionData.h"
+#include "imstkMath.h"
+
+#include <g3log/g3log.hpp>
+
+namespace imstk {
+
+TetraToTetraCD::TetraToTetraCD(std::shared_ptr<TetrahedralMesh> meshA,
+ std::shared_ptr<TetrahedralMesh> meshB,
+ CollisionData& colData) :
+ CollisionDetection(CollisionDetection::Type::MeshToMesh, colData), //is TetrahedralMeshToTetrahedralMesh type needed?
+ m_meshA(meshA),
+ m_meshB(meshB)
+{
+}
+
+void
+TetraToTetraCD::findCollisionsForMeshWithinHashTable(const std::shared_ptr<TetrahedralMesh> mesh, size_t idOffset)
+{
+ Vec3d min, max; //bounding box of a tetrahedron
+ Vec3d vPos;
+ const auto eps = MACHINE_PRECISION;
+ const double eps2 = 1e-10;
+
+ //tetrahedron belonging part of penetration type does not change
+ PointTetrahedronCollisionData::CollisionType cType
+ = static_cast<PointTetrahedronCollisionData::CollisionType>(idOffset > 0);
+
+ for (size_t tId = 0; tId < mesh->getNumTetrahedra(); ++tId) //TODO: parallelize!
+ {
+ TetrahedralMesh::TetraArray vInd = mesh->getTetrahedronVertices(tId);
+ for (int i = 0; i < 4; i++) //if idOffset!=0 ?
+ {
+ vInd[i] += idOffset;
+ }
+ mesh->computeTetrahedronBoundingBox(tId, min, max);
+ std::vector<size_t> collP = m_hashTable.getPointsInAABB(min, max);
+ assert(collP.size() >= 4);
+ if (collP.size() > 4)
+ {
+ for (size_t vId : collP)
+ {
+ //vertex does not belong to this tetrahedron
+ if (vId != vInd[0] &&
+ vId != vInd[1] &&
+ vId != vInd[2] &&
+ vId != vInd[3])
+ {
+ //this determines vertex belonging part of the penetration type
+ //and gets vertex position
+ if (vId < m_meshA->getNumVertices())
+ {
+ vPos = m_meshA->getVertexPosition(vId);
+ cType = static_cast<PointTetrahedronCollisionData::CollisionType>((cType & 1) + 0);
+ }
+ else
+ {
+ vId -= m_meshA->getNumVertices();
+ vPos = m_meshB->getVertexPosition(vId);
+ cType = static_cast<PointTetrahedronCollisionData::CollisionType>((cType & 1) + 2);
+ }
+
+ TetrahedralMesh::WeightsArray bCoord; //barycentric coordinates of the vertex in tetrahedron
+ mesh->computeBarycentricWeights(tId, vPos, bCoord);
+ if (bCoord[0] >= -eps &&
+ bCoord[1] >= -eps &&
+ bCoord[2] >= -eps &&
+ bCoord[3] >= -eps)
+ {
+ auto coordSum = bCoord[0] + bCoord[1] + bCoord[2] + bCoord[3];
+ assert(coordSum <= 1 + eps2 && coordSum >= 1 - eps2);
+
+ PointTetrahedronCollisionData ptColl = { cType, vId, tId, bCoord };
+ m_colData.PTColData.push_back(ptColl);
+ }
+ } //if not this tetrahedron
+ } //for vertices
+ }
+ } //for tetrahedra
+}
+
+void
+TetraToTetraCD::computeCollisionData()
+{
+ m_hashTable.clear();
+ m_hashTable.insertPoints(m_meshA->getVertexPositions());
+ m_hashTable.insertPoints(m_meshB->getVertexPositions());
+
+ m_colData.clearAll();
+ this->findCollisionsForMeshWithinHashTable(m_meshA, 0);
+ this->findCollisionsForMeshWithinHashTable(m_meshB, m_meshA->getNumVertices());
+}
+
+}
diff --git a/Base/Collision/CollisionDetection/imstkTetraToTetraCD.h b/Base/Collision/CollisionDetection/imstkTetraToTetraCD.h
new file mode 100644
index 0000000000000000000000000000000000000000..754d9f65e16cbfaa9ba177f66b6d991d8617de0f
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkTetraToTetraCD.h
@@ -0,0 +1,89 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#ifndef imstkTetrahedralMeshCD_h
+#define imstkTetrahedralMeshCD_h
+
+// std library
+#include <memory>
+
+// imstk
+#include "imstkCollisionDetection.h"
+#include "imstkTetrahedralMesh.h"
+#include "DataStructures/imstkSpatialHashTableSeparateChaining.h"
+#include "DeformModel.h"
+
+namespace imstk
+{
+
+class CollisionData;
+
+///
+/// \class TetraToTetraCD
+///
+/// \brief Base class for mesh-to-mesh collision detection
+///
+class TetraToTetraCD : public CollisionDetection
+{
+public:
+
+ ///
+ /// \brief Constructor
+ ///
+ TetraToTetraCD(std::shared_ptr<TetrahedralMesh> meshA,
+ std::shared_ptr<TetrahedralMesh> meshB,
+ CollisionData& colData);
+
+ ///
+ /// \brief Destructor
+ ///
+ ~TetraToTetraCD() = default;
+
+ ///
+ /// \brief Detect collision and compute collision data
+ ///
+ void computeCollisionData() override;
+
+private:
+
+ ///
+ /// \brief Processes tetrahedrons of either mesh A or B.
+ ///
+ /// This method goes through tetrahedrons of the supplied mesh (A or B),
+ /// and examines vertices currently in the hash table.
+ /// It first does rough intersection check using AABB,
+ /// and then finer check using barycentric coordinates.
+ /// Collisions are added to m_colData
+ /// Self collisions and mutual collisions between A and B are supported.
+ ///
+ /// \param mesh must be either m_meshA or m_meshB
+ /// \param idOffset must be 0 for A, and A.getNumVertices() for B
+ ///
+ void findCollisionsForMeshWithinHashTable(const std::shared_ptr<TetrahedralMesh> mesh, size_t idOffset);
+
+ std::shared_ptr<TetrahedralMesh> m_meshA; ///> Mesh A
+ std::shared_ptr<TetrahedralMesh> m_meshB; ///> Mesh B
+ SpatialHashTableSeparateChaining m_hashTable; ///> Spatial hash table
+};
+
+}
+
+#endif // ifndef imstkTetrahedralMeshCD_h
diff --git a/Base/Collision/Testing/imstkTetraToTetraCDTest.cpp b/Base/Collision/Testing/imstkTetraToTetraCDTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1e36143c4aea765897b34b8084d9a130a1a6a630
--- /dev/null
+++ b/Base/Collision/Testing/imstkTetraToTetraCDTest.cpp
@@ -0,0 +1,143 @@
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+
+#include <memory>
+
+#include "imstkCollisionData.h"
+#include "imstkIsometricMap.h"
+#include "imstkMeshIO.h"
+#include "imstkTetraToTetraCD.h"
+
+using namespace imstk;
+
+class imstkTetraToTetraCDTest : public ::testing::Test
+{
+protected:
+ TetraToTetraCD *m_CD;
+};
+
+std::shared_ptr<TetrahedralMesh> loadMesh(std::string externalDataSuffix)
+{
+ std::string file = iMSTK_DATA_ROOT + externalDataSuffix;
+ std::shared_ptr<TetrahedralMesh> volMesh
+ = std::static_pointer_cast<TetrahedralMesh>(imstk::MeshIO::read(file));
+ if (!volMesh)
+ {
+ LOG(FATAL) << "Failed to read a volumetric mesh file : " << file;
+ }
+ return volMesh;
+}
+
+std::shared_ptr<TetrahedralMesh> duplicate(std::shared_ptr<TetrahedralMesh> mesh)
+{
+ return std::make_shared<TetrahedralMesh>(*mesh.get());
+}
+
+TEST_F(imstkTetraToTetraCDTest, NoSelfIntersection)
+{
+ std::shared_ptr<TetrahedralMesh> a = loadMesh("/asianDragon/asianDragon.veg");
+ auto b = std::make_shared<TetrahedralMesh>(TetrahedralMesh()); //empty mesh
+ CollisionData cd;
+
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 0);
+
+ m_CD = new TetraToTetraCD(b, a, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 0);
+}
+
+TEST_F(imstkTetraToTetraCDTest, IntersectionThenNoIntersection1T)
+{
+ std::shared_ptr<TetrahedralMesh> a = loadMesh("/oneTet/oneTet.veg");
+ auto b = duplicate(a);
+
+ b->translateVertices(imstk::Vec3d(0.0, 1.0, 2.5));
+
+ CollisionData cd;
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 1);
+ EXPECT_EQ(cd.PTColData[0].collisionType, PointTetrahedronCollisionData::bPenetratingA);
+ EXPECT_EQ(cd.PTColData[0].vertexId, 0);
+ EXPECT_EQ(cd.PTColData[0].tetreahedronId, 0);
+
+ m_CD = new TetraToTetraCD(b, a, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 1);
+ EXPECT_EQ(cd.PTColData[0].collisionType, PointTetrahedronCollisionData::aPenetratingB);
+ EXPECT_EQ(cd.PTColData[0].vertexId, 0);
+ EXPECT_EQ(cd.PTColData[0].tetreahedronId, 0);
+
+ //now translate b more so there is no intersection
+ b->translateVertices(imstk::Vec3d(0.0, 2.0, 0.0));
+
+ m_CD = new TetraToTetraCD(b, a, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 0);
+
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 0);
+}
+
+TEST_F(imstkTetraToTetraCDTest, IntersectionThenNoIntersectionHuman)
+{
+ std::shared_ptr<TetrahedralMesh> a = loadMesh("/human/human.veg");
+ auto b = duplicate(a);
+
+ b->translateVertices(imstk::Vec3d(16.0, 0.0, 1.0));
+ CollisionData cd;
+
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 4);
+
+ m_CD = new TetraToTetraCD(b, a, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 4);
+
+ //this additional translation produces a different intersection
+ b->translateVertices(imstk::Vec3d(0.0, 0.0, 0.5));
+
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 1);
+ EXPECT_EQ(cd.PTColData[0].collisionType, PointTetrahedronCollisionData::aPenetratingB);
+ EXPECT_EQ(cd.PTColData[0].vertexId, 81);
+ EXPECT_EQ(cd.PTColData[0].tetreahedronId, 367);
+
+ m_CD = new TetraToTetraCD(b, a, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 1);
+ EXPECT_EQ(cd.PTColData[0].collisionType, PointTetrahedronCollisionData::bPenetratingA);
+ EXPECT_EQ(cd.PTColData[0].vertexId, 81);
+ EXPECT_EQ(cd.PTColData[0].tetreahedronId, 367);
+
+ //now translate b more so there is no intersection
+ b->translateVertices(imstk::Vec3d(0.0, 0.0, 1.0));
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 0);
+}
+
+TEST_F(imstkTetraToTetraCDTest, IntersectionOfDifferentMeshes)
+{
+ std::shared_ptr<TetrahedralMesh> a = loadMesh("/asianDragon/asianDragon.veg");
+ std::shared_ptr<TetrahedralMesh> b = loadMesh("/human/human.veg");
+
+ CollisionData cd;
+ m_CD = new TetraToTetraCD(a, b, cd);
+ m_CD->computeCollisionData();
+ EXPECT_EQ(cd.PTColData.size(), 595);
+}
+
+int imstkTetraToTetraCDTest(int argc, char* argv[])
+{
+ // Init Google Test & Mock
+ ::testing::InitGoogleTest(&argc, argv);
+
+ // Run tests with gtest
+ return RUN_ALL_TESTS();
+}
diff --git a/Base/Geometry/Map/imstkOneToOneMap.cpp b/Base/Geometry/Map/imstkOneToOneMap.cpp
index c0ebc6182c7895f9c69c3b51bf6c36cb04810545..e25367ae150ab40840e53e04f9ac544afc263b25 100644
--- a/Base/Geometry/Map/imstkOneToOneMap.cpp
+++ b/Base/Geometry/Map/imstkOneToOneMap.cpp
@@ -34,7 +34,7 @@ OneToOneMap::compute()
}
// returns the first matching vertex
- auto findMatchingVertex = [](std::shared_ptr<Mesh> masterMesh, const Vec3d& p) -> int
+ auto findMatchingVertex = [](std::shared_ptr<Mesh> masterMesh, const Vec3d& p) -> size_t
{
for (size_t nodeId = 0; nodeId < masterMesh->getNumVertices(); ++nodeId)
{
@@ -53,7 +53,7 @@ OneToOneMap::compute()
for (size_t nodeId = 0; nodeId < meshSlave->getNumVertices(); ++nodeId)
{
// Find the enclosing or closest tetrahedron
- int matchingNodeId = findMatchingVertex(meshMaster, meshSlave->getVertexPosition(nodeId));
+ size_t matchingNodeId = findMatchingVertex(meshMaster, meshSlave->getVertexPosition(nodeId));
if (matchingNodeId < 0)
{
diff --git a/Base/Geometry/Map/imstkTetraTriangleMap.cpp b/Base/Geometry/Map/imstkTetraTriangleMap.cpp
index 8b935a97156220ee9df55f067dc06cb6d43fa004..ff664631ecdb46c9dddd51f9748f22ff683a5141 100644
--- a/Base/Geometry/Map/imstkTetraTriangleMap.cpp
+++ b/Base/Geometry/Map/imstkTetraTriangleMap.cpp
@@ -160,7 +160,7 @@ TetraTriangleMap::findClosestTetrahedron(std::shared_ptr<TetrahedralMesh> tetraM
const Vec3d& pos)
{
double closestDistance = MAX_D;
- int closestTetrahedron = -1;
+ size_t closestTetrahedron = -1;
for (size_t tetId = 0; tetId < tetraMesh->getNumTetrahedra(); ++tetId)
{
Vec3d center(0, 0, 0);
diff --git a/Base/Geometry/Mesh/imstkMesh.cpp b/Base/Geometry/Mesh/imstkMesh.cpp
index 67b098d4b23de42612ad4ff3741232d322036868..2eee5ac12a7d40bf2c2b1aacc9e263fd0699cd6e 100644
--- a/Base/Geometry/Mesh/imstkMesh.cpp
+++ b/Base/Geometry/Mesh/imstkMesh.cpp
@@ -29,6 +29,8 @@ Mesh::initialize(const StdVectorOfVec3d& vertices)
{
this->setInitialVertexPositions(vertices);
this->setVertexPositions(vertices);
+ StdVectorOfVec3d disp = StdVectorOfVec3d(vertices.size(), imstk::Vec3d(0.0, 0.0, 0.0));
+ this->setVertexDisplacements(disp);
}
void
@@ -130,6 +132,7 @@ Mesh::setVertexDisplacements(const StdVectorOfVec3d& diff)
void
Mesh::setVertexDisplacements(const Vectord& u)
{
+ assert(u.size() == 3 * m_vertexDisplacements.size());
size_t dofId = 0;
for (auto &vDisp : m_vertexDisplacements)
{
@@ -143,6 +146,19 @@ Mesh::setVertexDisplacements(const Vectord& u)
}
}
+void Mesh::translateVertices(const Vec3d& t)
+{
+ for (auto &vDisp : m_vertexDisplacements)
+ {
+ vDisp += t;
+ }
+
+ for (size_t i = 0; i < m_vertexPositions.size(); ++i)
+ {
+ m_vertexPositions[i] = m_initialVertexPositions[i] + m_vertexDisplacements[i];
+ }
+}
+
const StdVectorOfVec3d&
Mesh::getVertexDisplacements() const
{
diff --git a/Base/Geometry/Mesh/imstkMesh.h b/Base/Geometry/Mesh/imstkMesh.h
index 3f3a4de911bba03067281c6fd6e430bf204077ba..8e3e15610785443abbbab3c78a5f5627150d1801 100644
--- a/Base/Geometry/Mesh/imstkMesh.h
+++ b/Base/Geometry/Mesh/imstkMesh.h
@@ -108,6 +108,11 @@ public:
///
void setVertexDisplacements(const Vectord& u);
+ ///
+ /// \brief Deep translation of vertices using the given 3D vector
+ ///
+ void translateVertices(const Vec3d& t);
+
///
/// \brief Returns the vector displacements of mesh vertices
///
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3e0926635160e88fdc97dbe20a721e83acf9d6d2..53d4085603874d009836bd1710d1ae6d42f1879f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -180,6 +180,11 @@ if(BUILD_TESTING)
include_directories(${GoogleMock_INCLUDE_DIRS})
endif()
+# External data
+if(BUILD_TESTING OR BUILD_EXAMPLES )
+ include(imstkExternalData)
+endif()
+
#--------------------------------------------------------------------------
# Add Source code subdirectories
#--------------------------------------------------------------------------
diff --git a/Examples/CMakeLists.txt b/Examples/CMakeLists.txt
index 35a25ae2e05b13f32451e626f309e6f85207defd..eeb48c990999090b98d602aaf389b4aa2f3d4bad 100644
--- a/Examples/CMakeLists.txt
+++ b/Examples/CMakeLists.txt
@@ -1,8 +1,3 @@
-#-----------------------------------------------------------------------------
-# ExternalData module
-#-----------------------------------------------------------------------------
-include(imstkExternalData)
-
#-----------------------------------------------------------------------------
# Add ExternalData
#-----------------------------------------------------------------------------