ENH: Add utility functions to the SDK

in order to facilitate the creation of device servers and clients.

Devices/VRPNDeviceServer.cpp

@@ -116,10 +116,10 @@ bool VRPNDeviceServer::addDeviceClient(
             // TODO: Add an extra parameter to set the name of the phantom omni.
             // This is necessary because vrpn_Phantom only take non-const names.
             char * deviceName = const_cast<char*>(newDeviceName.c_str());
-            vrpnTrackerDevice =
-                std::make_shared<vrpn_Phantom>(deviceName,
-                                               this->connection,
-                                               60.0f, "Default PHANToM");
+            vrpnTrackerDevice = std::make_shared<vrpn_Phantom>(deviceName,
+                                                               this->connection,
+                                                               60.0f,
+                                                               "Default PHANToM");
  #else
             // TODO: add to logger
             std::cerr<< "addDeviceClient error: needs VRPN_USE_PHANTOM_SERVER defined "

Examples/FEMSimulator/main.cpp

@@ -81,20 +81,9 @@ int main(int ac, char** av)
         return EXIT_FAILURE;
     }
 
-    // setup device client
+    // Set up a controller to control a mesh with an external device
     std::string deviceURL = "Phantom@localhost";
-//     auto client = std::make_shared<imstk::VRPNForceDevice>(deviceURL);
-//     sdk->addModule(client);
-
-    // setup controller
-//     auto controller = std::make_shared<imstk::ToolCoupler>(client);
-//     controller->setScalingFactor(20.0);
-//     sdk->addModule(controller);
-
-    // setup server
-     auto server = std::make_shared<imstk::VRPNDeviceServer>();
-//      server->addDeviceClient(client);
-     sdk->addModule(server);
+    auto controller = sdk->createForceDeviceController(deviceURL);
 
     //-------------------------------------------------------
     // Create scene actor 1:  fem scene object + fem simulator
@@ -168,7 +157,7 @@ int main(int ac, char** av)
     loliMesh->transform(transform);
     loliMesh->updateInitialVertices();
 
-//     controller->setMesh(loliCollisionModel->getMesh());
+    controller->setMesh(loliCollisionModel->getMesh());
 
     //-------------------------------------------------------
     // Enable collision between scene actors 1 and 2

SimulationManager/SDK.cpp

@@ -251,4 +251,28 @@ void SDK::addInteraction(std::shared_ptr< CollisionManager > collisionPair,
                                          contactHandling);
 }
 
+//---------------------------------------------------------------------------
+std::shared_ptr< VRPNDeviceServer > SDK::createDeviceServer()
+{
+    auto server = std::make_shared<imstk::VRPNDeviceServer>();
+    this->addModule(server);
+    return server;
+}
+
+//---------------------------------------------------------------------------
+std::shared_ptr< ToolCoupler > SDK::createForceDeviceController(std::string &deviceURL)
+{
+    auto server = this->createDeviceServer();
+
+    auto client = std::make_shared<VRPNForceDevice>(deviceURL);
+    this->addModule(client);
+
+    server->addDeviceClient(client);
+
+    auto controller = std::make_shared<ToolCoupler>(client);
+    this->addModule(controller);
+
+    return controller;
+}
+
 }

SimulationManager/SDK.h

@@ -41,6 +41,9 @@
 #include "Core/ContactHandling.h"
 #include "Core/CollisionManager.h"
 #include "Core/CollisionDetection.h"
+#include "Devices/VRPNDeviceServer.h"
+#include "Devices/VRPNForceDevice.h"
+#include "VirtualTools/ToolCoupler.h"
 
 namespace imstk {
 
@@ -186,6 +189,18 @@ public:
                         std::shared_ptr<CollisionDetection> collisionDetection,
                         std::shared_ptr<ContactHandling> contactHandling);
 
+    ///
+    /// \brief Utility function to create a device server
+    ///
+    std::shared_ptr<VRPNDeviceServer> createDeviceServer();
+
+    ///
+    /// \brief Utility function to create a device client, server and controller
+    ///
+    /// \param deviceURL Client name to make the connection
+    ///
+    std::shared_ptr<ToolCoupler> createForceDeviceController(std::string &deviceURL);
+
 private:
     SDK() = default;