STYKE: Correct style

Examples/PBDCollision/PBDCollisionExample.cpp

@@ -330,16 +330,16 @@ int main()
         scene->addSceneObject(floor);
 
         auto colData = std::make_shared<CollisionData>();
-        auto CD = std::make_shared<MeshToMeshBruteForceCD>(floor->getCollidingGeometry(), 
+        auto CD = std::make_shared<MeshToMeshBruteForceCD>(floor->getCollidingGeometry(),
                                                            surfMesh,
                                                            *colData.get());
 
-        auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::B,
+        auto CH = std::make_shared<PBDCollisionHandling>(CollisionHandling::Side::A,
             CD->getCollisionData(),
             floor,
             deformableObj);
 
-        //scene->getCollisionGraph()->addInteractionPair(floor, deformableObj, CD, CH, nullptr);
+        scene->getCollisionGraph()->addInteractionPair(floor, deformableObj, CD, CH, nullptr);
     }
 >>>>>>> WIP: Change SceneManager to straighten PBD pipeline
 
@@ -350,7 +350,7 @@ int main()
     scene->addLight(light);
 
     sdk->setActiveScene(scene);
-    sdk->startSimulation(SimulationStatus::RUNNING);
+    sdk->startSimulation(SimulationStatus::PAUSED);
 
     return 0;
 }

Source/Collision/CollisionDetection/imstkCollisionDetection.cpp

@@ -177,7 +177,7 @@ CollisionDetection::makeCollisionDetectionObject(const Type& type,
         if (geometry1 == nullptr || surfaceGeo == nullptr)
         {
             LOG(WARNING) << "CollisionDetection::make_collision_detection error: "
-                << "invalid object geometries for MeshToMeshBruteForce collision detection.";
+                         << "invalid object geometries for MeshToMeshBruteForce collision detection.";
             return nullptr;
         }
         return std::make_shared<MeshToMeshBruteForceCD>(geometry1, surfaceGeo, colData);

Source/Collision/CollisionDetection/imstkMeshToMeshBruteforceCD.cpp

@@ -38,7 +38,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
 {
     // Clear collisionData
     m_colData.clearAll();
-    
+
     // Broad phase collision
     doBroadPhaseCollisionCheck();
 
@@ -50,7 +50,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
         auto mesh1 = std::static_pointer_cast<LineMesh>(m_object1);
 
         // brute force, use BVH or spatial grid would be much better
-        
+
         // point
         for (size_t i = 0; i < mesh1->getNumVertices(); ++i)
         {
@@ -67,8 +67,8 @@ MeshToMeshBruteForceCD::computeCollisionData()
                 if (testPointToTriAABB(p[0], p[1], p[2],
                                        p0[0], p0[1], p0[2],
                                        p1[0], p1[1], p1[2],
-                                       p2[0], p2[1], p2[2], 
-                                       m_proximityTolerance, 
+                                       p2[0], p2[1], p2[2],
+                                       m_proximityTolerance,
                                        m_proximityTolerance))
                 {
                     TriangleVertexCollisionData d(j, i);
@@ -223,7 +223,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                     const Vec3d p0 = mesh2->getVertexPosition(e[0]);
                     const Vec3d p1 = mesh2->getVertexPosition(e[1]);
                     const Vec3d p2 = mesh2->getVertexPosition(e[2]);
-                    
+
                     if (E2[e[0]][e[1]] && E2[e[1]][e[0]])
                     {
                         if (testLineToLineAABB(P[0], P[1], P[2],
@@ -237,7 +237,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                             E2[e[0]][e[1]] = 0;
                         }
                     }
-                    
+
                     if (E2[e[1]][e[2]] && E2[e[2]][e[1]])
                     {
                         if (testLineToLineAABB(P[0], P[1], P[2],
@@ -356,7 +356,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                             E2[e[0]][e[1]] = 0;
                         }
                     }
-                    
+
                     if (E2[e[1]][e[2]] && E2[e[2]][e[1]])
                     {
                         if (testLineToLineAABB(P[0], P[1], P[2],
@@ -370,7 +370,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                             E2[e[1]][e[2]] = 0;
                         }
                     }
-                    
+
                     if (E2[e[2]][e[0]] && E2[e[0]][e[2]])
                     {
                         if (testLineToLineAABB(P[0], P[1], P[2],
@@ -416,5 +416,4 @@ MeshToMeshBruteForceCD::doBroadPhaseCollisionCheck() const
                           min2[2] - m_proximityTolerance,
                           max2[2] + m_proximityTolerance);
 }
-
 } // imstk

Source/Collision/CollisionHandling/imstkPBDCollisionHandling.cpp

@@ -31,14 +31,13 @@
 
 namespace imstk
 {
-
 void
 PBDCollisionHandling::processCollisionData()
 {
     /*if (auto deformableObj = std::dynamic_pointer_cast<DeformableObject>(m_object))
     {
         this->computeContactForcesDiscreteDeformable(deformableObj);
-    }    
+    }
     else if (auto analyticObj = std::dynamic_pointer_cast<CollidingObject>(m_object))
     {
         this->computeContactForcesAnalyticRigid(analyticObj);
@@ -52,7 +51,7 @@ PBDCollisionHandling::processCollisionData()
     this->generatePBDConstraints();
 }
 
-void 
+void
 PBDCollisionHandling::generatePBDConstraints()
 {
     // clear the constraints before populating wit new ones
@@ -75,7 +74,7 @@ PBDCollisionHandling::generatePBDConstraints()
 
         c->initConstraint(dynaModel1, map1->getMapIdx(colData.edgeIdA.first), map1->getMapIdx(colData.edgeIdA.second),
                           dynaModel2, map2->getMapIdx(colData.edgeIdB.first), map1->getMapIdx(colData.edgeIdB.second));
-        
+
         m_PBDConstraints.push_back(c);
     }
 
@@ -85,10 +84,10 @@ PBDCollisionHandling::generatePBDConstraints()
         const auto triVerts = colGeo2->getTrianglesVertices()[colData.triIdA];
 
         const auto c = std::make_shared<PbdPointTriangleConstraint>();
-        
-        c->initConstraint(dynaModel1, 
+
+        c->initConstraint(dynaModel1,
                           colData.vertexIdB,
-                          dynaModel2, 
+                          dynaModel2,
                           map2->getMapIdx(triVerts[0]),
                           map2->getMapIdx(triVerts[1]),
                           map2->getMapIdx(triVerts[2]));
@@ -96,5 +95,4 @@ PBDCollisionHandling::generatePBDConstraints()
         m_PBDConstraints.push_back(c);
     }
 }
-
 }
\ No newline at end of file

Source/Collision/CollisionHandling/imstkPBDCollisionHandling.h

@@ -42,16 +42,16 @@ class PbdCollisionConstraint;
 ///
 class PBDCollisionHandling : public CollisionHandling
 {
-    typedef std::vector<std::shared_ptr<PbdCollisionConstraint>> PBDConstraintVector;
+typedef std::vector<std::shared_ptr<PbdCollisionConstraint>> PBDConstraintVector;
 public:
 
     ///
     /// \brief Constructor
     ///
     PBDCollisionHandling(const Side& side,
-              const CollisionData& colData,
-              std::shared_ptr<PbdObject> obj1, 
-              std::shared_ptr<PbdObject> obj2) :
+                         const CollisionData& colData,
+                         std::shared_ptr<PbdObject> obj1,
+                         std::shared_ptr<PbdObject> obj2) :
         CollisionHandling(Type::Penalty, side, colData),
         m_pbdObject1(obj1),
         m_pbdObject2(obj2){}
@@ -67,7 +67,7 @@ public:
     /// \brief Compute forces based on collision data
     ///
     void processCollisionData() override;
-    
+
     ///
     /// \brief Generate appropriate PBD constraints based on the collision data
     ///

Source/SimulationManager/imstkSceneManager.cpp

@@ -66,7 +66,7 @@ SceneManager::runModule()
         else if (auto collidingObj = std::dynamic_pointer_cast<CollidingObject>(obj))
         {
             collidingObj->resetForce();
-        }        
+        }
     }
 
     // Update objects controlled by the device controllers
@@ -78,12 +78,12 @@ SceneManager::runModule()
     // Compute collision data per interaction pair
     for (auto intPair : m_scene->getCollisionGraph()->getInteractionPairList())
     {
-        intPair->computeCollisionData();     
+        intPair->computeCollisionData();
     }
 
     // Process collision data per interaction pair
     for (auto intPair : m_scene->getCollisionGraph()->getInteractionPairList())
-    {    
+    {
         intPair->processCollisionData();
     }
 
@@ -113,7 +113,7 @@ SceneManager::runModule()
 
     auto timeElapsed = wwt.getTimeElapsed(StopWatch::TimeUnitType::seconds);
 
-    // Update time step size of the dynamic objects    
+    // Update time step size of the dynamic objects
     for (auto obj : m_scene->getSceneObjects())
     {
         if (obj->getType() == SceneObject::Type::Pbd)