diff --git a/Base/Core/imstkAPIUtilities.h b/Base/Core/imstkAPIUtilities.h
new file mode 100644
index 0000000000000000000000000000000000000000..dee524ceb8e5f9a210adeb85c138b9d62dcb8984
--- /dev/null
+++ b/Base/Core/imstkAPIUtilities.h
@@ -0,0 +1,219 @@
+/*=========================================================================
+
+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 imstkAPIUtilities_h
+#define imstkAPIUtilities_h
+
+// Objects
+#include "imstkFEMDeformableBodyModel.h"
+#include "imstkSceneObject.h"
+
+// Solvers
+#include "imstkNonlinearSystem.h"
+
+// Geometry
+#include "imstkPlane.h"
+#include "imstkSphere.h"
+#include "imstkCube.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkMeshIO.h"
+
+// logger
+#include "g3log/g3log.hpp"
+
+namespace imstk
+{
+
+namespace apiutils
+{
+
+///
+/// \brief Create a analytical visual scene object that and add it to the scene
+///
+std::shared_ptr<imstk::VisualObject>
+createVisualAnalyticalSceneObject(imstk::Geometry::Type type,
+ std::shared_ptr<imstk::Scene> scene,
+ const std::string objName,
+ const double scale = 1.,
+ const imstk::Vec3d t = imstk::Vec3d(0., 0., 0.))
+{
+ if (!scene)
+ {
+ LOG(WARNING) << "createVisualAnalyticalSceneObject: Scene is not valid!";
+ return nullptr;
+ }
+
+ if (objName.empty())
+ {
+ LOG(WARNING) << "createVisualAnalyticalSceneObject: Name is empty!";
+ return nullptr;
+ }
+
+ std::shared_ptr<imstk::Geometry> geom;
+ switch (type)
+ {
+ case imstk::Geometry::Type::Sphere:
+ geom = std::make_shared<imstk::Sphere>();
+ break;
+
+ case imstk::Geometry::Type::Plane:
+ geom = std::make_shared<imstk::Plane>();
+ break;
+
+ case imstk::Geometry::Type::Cube:
+ geom = std::make_shared<imstk::Cube>();
+ break;
+
+ default:
+ LOG(WARNING) << "createVisualgAnalyticalSceneObject: Scene object geometry type is not analytical!";
+ return nullptr;
+ }
+
+ geom->scale(scale);
+ geom->translate(t);
+
+ auto sceneObj = std::make_shared<imstk::VisualObject>(objName);
+ sceneObj->setVisualGeometry(geom);
+ scene->addSceneObject(sceneObj);
+
+ return sceneObj;
+};
+
+///
+/// \brief Create a analytical colliding scene object that and add it to the scene
+///
+std::shared_ptr<imstk::CollidingObject>
+createCollidingAnalyticalSceneObject(imstk::Geometry::Type type,
+ std::shared_ptr<imstk::Scene> scene,
+ const std::string objName,
+ const double scale = 1.,
+ const imstk::Vec3d t = imstk::Vec3d(0., 0., 0.))
+{
+ if (!scene)
+ {
+ LOG(WARNING) << "createCollidingSphereSceneObject: Scene is not valid!";
+ return nullptr;
+ }
+
+ if (objName.empty())
+ {
+ LOG(WARNING) << "createCollidingAnalyticalSceneObject: Name is empty!";
+ return nullptr;
+ }
+
+ std::shared_ptr<imstk::Geometry> geom;
+ switch (type)
+ {
+ case imstk::Geometry::Type::Sphere:
+ geom = std::make_shared<imstk::Sphere>();
+ break;
+
+ case imstk::Geometry::Type::Plane:
+ geom = std::make_shared<imstk::Plane>();
+ break;
+
+ case imstk::Geometry::Type::Cube:
+ geom = std::make_shared<imstk::Cube>();
+ break;
+
+ default:
+ LOG(WARNING) << "createCollidingAnalyticalSceneObject: Scene object geometry type is not analytical!";
+ return nullptr;
+ }
+
+ geom->scale(scale);
+ geom->translate(t);
+
+ auto sceneObj = std::make_shared<imstk::CollidingObject>(objName);
+ sceneObj->setVisualGeometry(geom);
+ sceneObj->setCollidingGeometry(geom);
+ scene->addSceneObject(sceneObj);
+
+ return sceneObj;
+};
+
+///
+/// \brief Read a mesh, create a visual scene object and add to the scene
+///
+std::shared_ptr<imstk::SceneObject>
+createAndAddVisualSceneObject(std::shared_ptr<imstk::Scene> scene,
+ const std::string fileName,
+ const std::string objectName)
+{
+ if (!scene)
+ {
+ LOG(WARNING) << "createAndAddVisualSceneObject: Scene is not valid!";
+ return nullptr;
+ }
+
+ if (fileName.empty())
+ {
+ LOG(WARNING) << "createAndAddVisualSceneObject: File name is empty!";
+ return nullptr;
+ }
+
+ auto mesh = imstk::MeshIO::read(fileName);
+ auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(mesh);
+
+ // Create object and add to scene
+ auto meshSceneObject = std::make_shared<imstk::VisualObject>("meshObject");
+ meshSceneObject->setVisualGeometry(SurfaceMesh);
+ meshSceneObject->setName(objectName);
+ scene->addSceneObject(meshSceneObject);
+
+ return meshSceneObject;
+};
+
+///
+/// \brief Create a non-linear system using FEM dynamic model
+///
+std::shared_ptr<imstk::NonLinearSystem>
+createNonLinearSystem(std::shared_ptr<imstk::FEMDeformableBodyModel> dynaModel)
+{
+
+ if (!dynaModel)
+ {
+ LOG(WARNING) << "createNonLinearSystem: Dynamic model is not valid!";
+ return nullptr;
+ }
+
+ auto nlSystem = std::make_shared<imstk::NonLinearSystem>(
+ dynaModel->getFunction(),
+ dynaModel->getFunctionGradient());
+
+ std::vector<LinearProjectionConstraint> linProj;
+ for (auto i : dynaModel->getFixNodeIds())
+ {
+ linProj.push_back(LinearProjectionConstraint(i, true));
+ }
+ nlSystem->setLinearProjectors(linProj);
+ nlSystem->setUnknownVector(dynaModel->getUnknownVec());
+ nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
+ nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
+
+ return nlSystem;
+};
+
+} //apiutils
+
+} // imstk
+
+#endif // imstkAPIUtilities_h
\ No newline at end of file
diff --git a/Base/Core/imstkUtils.h b/Base/Core/imstkPlotterUtils.h
similarity index 97%
rename from Base/Core/imstkUtils.h
rename to Base/Core/imstkPlotterUtils.h
index 9bf4555ddd986d7a8202903fc19b1044fdee09dd..9e0df9350cb12459eb1f0f5954ec06670305a700 100644
--- a/Base/Core/imstkUtils.h
+++ b/Base/Core/imstkPlotterUtils.h
@@ -19,8 +19,8 @@ limitations under the License.
=========================================================================*/
-#ifndef imstkUtils_h
-#define imstkUtils_h
+#ifndef imstkPlotterUtils_h
+#define imstkPlotterUtils_h
// STL includes
#include <iostream>
@@ -33,7 +33,7 @@ limitations under the License.
namespace imstk
{
-namespace plotters
+namespace plotterutils
{
///
@@ -187,4 +187,4 @@ static void writePlotterVecVsVecMatPlotlib(Vectord& x, Vectord& y, const char* f
} // imstk
-#endif // ifndef imstkUtils_h
+#endif // ifndef imstkPlotterUtils_h
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index f384ac5da52d1c70fa479f88f223aee6aa44a1aa..41ab8c0cfc8606eb6938868440946ea54c917157 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -53,7 +53,10 @@
// logger
#include "g3log/g3log.hpp"
-#include "imstkUtils.h"
+
+// imstk utilities
+#include "imstkPlotterUtils.h"
+#include "imstkAPIUtilities.h"
#include "imstkVirtualCouplingPBDObject.h"
#include "imstkPbdObject.h"
@@ -172,7 +175,6 @@ int main()
void testLapToolController()
{
-
#ifdef iMSTK_USE_OPENHAPTICS
// SDK and Scene
auto sdk = std::make_shared<imstk::SimulationManager>();
@@ -187,39 +189,19 @@ void testLapToolController()
sdk->addModule(server);
// Plane
- auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(100);
- planeGeom->translate(Vec3d(0., -20., 0.));
- auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
- planeObj->setVisualGeometry(planeGeom);
- scene->addSceneObject(planeObj);
-
- auto createAndAddVisualSceneObject =
- [](std::shared_ptr<imstk::Scene> scene,
- const std::string& fileName,
- const std::string& objectName) ->
- std::shared_ptr<imstk::SceneObject>
- {
- auto mesh = imstk::MeshIO::read(fileName);
- auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(mesh);
-
- // Create object and add to scene
- auto meshObject = std::make_shared<imstk::VisualObject>("meshObject");
- meshObject->setVisualGeometry(SurfaceMesh);
- meshObject->setName(objectName);
- scene->addSceneObject(meshObject);
- return meshObject;
- };
+ auto planeObj = apiutils::createVisualAnalyticalSceneObject(
+ imstk::Geometry::Type::Plane, scene, "VisualPlane", 100., imstk::Vec3d(0., -20., 0.));
// laparoscopic tool
- auto pivot = createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/pivot.obj", "pivot");
- auto upperJaw = createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/upper.obj", "upperJaw");
- auto lowerJaw = createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/lower.obj", "lowerJaw");
+ auto pivot = apiutils::createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/pivot.obj", "pivot");
+ auto upperJaw = apiutils::createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/upper.obj", "upperJaw");
+ auto lowerJaw = apiutils::createAndAddVisualSceneObject(scene, iMSTK_DATA_ROOT"/laptool/lower.obj", "lowerJaw");
auto trackingCtrl = std::make_shared<imstk::DeviceTracker>(client0);
trackingCtrl->setTranslationScaling(0.5);
auto lapToolController = std::make_shared<imstk::LaparoscopicToolController>(pivot, upperJaw, lowerJaw, trackingCtrl);
lapToolController->setJawRotationAxis(imstk::Vec3d(1.0, 0, 0));
+ lapToolController->setJawAngleChange(0.1);
scene->addObjectController(lapToolController);
// Set Camera
@@ -261,7 +243,7 @@ void testMshAndVegaIO()
std::string ofile = iMSTK_DATA_ROOT"/liver/liver.veg";
auto writeStatus = imstk::MeshIO::write(volMeshA, ofile);
std::cout << "------------------------------Summary----------------------------------------------------\n";
- std::cout << "Following file converion: " << ((writeStatus) ? "Success \n" : "Failure \n");
+ std::cout << "Following file conversion: " << ((writeStatus) ? "Success \n" : "Failure \n");
std::cout << "\n Input mesh file : \n" << ifile << std::endl;
std::cout << "\n Output mesh file: \n" << ofile << std::endl;
@@ -290,7 +272,6 @@ void testMshAndVegaIO()
// Run
sdk->setCurrentScene(scene);
sdk->startSimulation(true);
-
}
void testVTKTexture()
@@ -497,21 +478,11 @@ void testPenaltyRigidCollision()
sdk->addModule(client1);
// Plane
- auto planeGeom = std::make_shared<Plane>();
- planeGeom->scale(10);
- auto planeObj = std::make_shared<CollidingObject>("Plane");
- planeObj->setVisualGeometry(planeGeom);
- planeObj->setCollidingGeometry(planeGeom);
- scene->addSceneObject(planeObj);
+ auto planeObj = apiutils::createCollidingAnalyticalSceneObject(imstk::Geometry::Type::Plane, scene, "plane", 10);
// Sphere0
- auto sphere0Geom = std::make_shared<Sphere>();
- sphere0Geom->scale(0.5);
- sphere0Geom->translate(Vec3d(1, 0.5, 0));
- auto sphere0Obj = std::make_shared<imstk::CollidingObject>("Sphere0");
- sphere0Obj->setVisualGeometry(sphere0Geom);
- sphere0Obj->setCollidingGeometry(sphere0Geom);
- scene->addSceneObject(sphere0Obj);
+ auto sphere0Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere0", 0.5, Vec3d(1, 0.5, 0));
auto trackCtrl0 = std::make_shared<imstk::DeviceTracker>(client0);
trackCtrl0->setTranslationScaling(40);
@@ -519,13 +490,8 @@ void testPenaltyRigidCollision()
scene->addObjectController(sphere0Controller);
// Sphere1
- auto sphere1Geom = std::make_shared<Sphere>();
- sphere1Geom->scale(0.5);
- sphere1Geom->translate(Vec3d(-1, 0.5, 0));
- auto sphere1Obj = std::make_shared<imstk::CollidingObject>("Sphere1");
- sphere1Obj->setVisualGeometry(sphere1Geom);
- sphere1Obj->setCollidingGeometry(sphere1Geom);
- scene->addSceneObject(sphere1Obj);
+ auto sphere1Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere1", 0.5, Vec3d(-1., 0.5, 0.));
auto trackCtrl1 = std::make_shared<imstk::DeviceTracker>(client1);
trackCtrl1->setTranslationScaling(40);
@@ -576,21 +542,12 @@ void testTwoFalcons()
sdk->addModule(hdk);
// Plane
- auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(50);
- planeGeom->translate(imstk::FORWARD_VECTOR * 15);
- auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
- planeObj->setVisualGeometry(planeGeom);
- scene->addSceneObject(planeObj);
+ auto planeObj = apiutils::createVisualAnalyticalSceneObject(
+ imstk::Geometry::Type::Plane, scene, "VisualPlane", 50, imstk::FORWARD_VECTOR * 15);
// Sphere0
- auto sphere0Geom = std::make_shared<imstk::Sphere>();
- sphere0Geom->setPosition(imstk::Vec3d(16, 4.5, 0));
- sphere0Geom->scale(1);
- auto sphere0Obj = std::make_shared<imstk::CollidingObject>("Sphere0");
- sphere0Obj->setVisualGeometry(sphere0Geom);
- sphere0Obj->setCollidingGeometry(sphere0Geom);
- scene->addSceneObject(sphere0Obj);
+ auto sphere0Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere0", 1., Vec3d(16, 4.5, 0));
auto trackCtrl0 = std::make_shared<imstk::DeviceTracker>(falcon0);
trackCtrl0->setTranslationScaling(30);
@@ -598,13 +555,8 @@ void testTwoFalcons()
scene->addObjectController(controller0);
// Sphere1
- auto sphere1Geom = std::make_shared<imstk::Sphere>();
- sphere1Geom->setPosition(imstk::Vec3d(-16, 4.5, 0));
- sphere1Geom->scale(1);
- auto sphere1Obj = std::make_shared<imstk::CollidingObject>("Sphere1");
- sphere1Obj->setVisualGeometry(sphere1Geom);
- sphere1Obj->setCollidingGeometry(sphere1Geom);
- scene->addSceneObject(sphere1Obj);
+ auto sphere1Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere1", 1., Vec3d(-16, 4.5, 0));
auto trackCtrl1 = std::make_shared<imstk::DeviceTracker>(falcon1);
trackCtrl1->setTranslationScaling(30);
@@ -642,22 +594,12 @@ void testTwoOmnis()
sdk->addModule(server);
// Plane
- auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(50);
- planeGeom->translate(imstk::FORWARD_VECTOR * 15);
- auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
- planeObj->setVisualGeometry(planeGeom);
- scene->addSceneObject(planeObj);
+ auto planeObj = apiutils::createVisualAnalyticalSceneObject(
+ imstk::Geometry::Type::Plane, scene, "VisualPlane", 50., imstk::FORWARD_VECTOR * 15);
// Sphere0
- auto sphere0Geom = std::make_shared<imstk::Sphere>();
- sphere0Geom->setPosition(imstk::Vec3d(2, 2.5, 0));
- sphere0Geom->scale(1);
-
- auto sphere0Obj = std::make_shared<imstk::CollidingObject>("Sphere0");
- sphere0Obj->setVisualGeometry(sphere0Geom);
- sphere0Obj->setCollidingGeometry(sphere0Geom);
- scene->addSceneObject(sphere0Obj);
+ auto sphere0Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere0", 1., Vec3d(2, 2.5, 0));
auto trackCtrl0 = std::make_shared<imstk::DeviceTracker>(client0);
trackCtrl0->setTranslationScaling(0.05);
@@ -665,14 +607,8 @@ void testTwoOmnis()
scene->addObjectController(controller0);
// Sphere1
- auto sphere1Geom = std::make_shared<imstk::Sphere>();
- sphere1Geom->setPosition(imstk::Vec3d(-2, 2.5, 0));
- sphere1Geom->scale(1);
-
- auto sphere1Obj = std::make_shared<imstk::CollidingObject>("Sphere1");
- sphere1Obj->setVisualGeometry(sphere1Geom);
- sphere1Obj->setCollidingGeometry(sphere1Geom);
- scene->addSceneObject(sphere1Obj);
+ auto sphere1Obj = apiutils::createCollidingAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, scene, "Sphere1", 1., Vec3d(-2, 2.5, 0));
auto trackCtrl1 = std::make_shared<imstk::DeviceTracker>(client1);
trackCtrl1->setTranslationScaling(0.05);
@@ -682,6 +618,7 @@ void testTwoOmnis()
// Update Camera position
auto cam = scene->getCamera();
cam->setPosition(imstk::Vec3d(0, 0, 10));
+ auto sphere0Geom = sphere0Obj->getVisualGeometry();
cam->setFocalPoint(sphere0Geom->getPosition());
// Run
@@ -746,7 +683,7 @@ void testCameraController()
server->addDeviceClient(client);
sdk->addModule(server);
#else
- LOG(WARNING) << "Phantom device option not enabled during build!";
+ LOG(WARNING) << "Phantom device option not enabled during build!";
#endif
@@ -814,26 +751,18 @@ void testViewer()
auto sceneTest = sdk->createNewScene("SceneTest");
// Plane
- auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(10);
- auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
- planeObj->setVisualGeometry(planeGeom);
+ auto planeObj = apiutils::createVisualAnalyticalSceneObject(imstk::Geometry::Type::Plane, sceneTest, "VisualPlane", 10);
// Cube
- auto cubeGeom = std::make_shared<imstk::Cube>();
- cubeGeom->scale(0.5);
+ auto cubeObj = apiutils::createVisualAnalyticalSceneObject(
+ imstk::Geometry::Type::Cube, sceneTest, "VisualCube", 0.5, Vec3d(1.0, -1.0, 0.5));
+ auto cubeGeom = cubeObj->getVisualGeometry();
cubeGeom->rotate(imstk::UP_VECTOR, imstk::PI_4);
cubeGeom->rotate(imstk::RIGHT_VECTOR, imstk::PI_4);
- cubeGeom->translate(1.0, -1.0, 0.5);
- auto cubeObj = std::make_shared<imstk::VisualObject>("VisualCube");
- cubeObj->setVisualGeometry(cubeGeom);
// Sphere
- auto sphereGeom = std::make_shared<imstk::Sphere>();
- sphereGeom->scale(0.3);
- sphereGeom->translate(0, 2, 0);
- auto sphereObj = std::make_shared<imstk::VisualObject>("VisualSphere");
- sphereObj->setVisualGeometry(sphereGeom);
+ auto sphereObj = apiutils::createVisualAnalyticalSceneObject(
+ imstk::Geometry::Type::Sphere, sceneTest, "VisualSphere", 0.3, Vec3d(0, 2., 0));
// Light (white)
auto whiteLight = std::make_shared<imstk::Light>("whiteLight");
@@ -1333,11 +1262,11 @@ void testVectorPlotters()
b.resize(100);
b.setConstant(2.0);
- plotters::writePlotterVectorMatlab(a, "plotX.m");
- plotters::writePlotterVecVsVecMatlab(a, b, "plotXvsY.m");
+ plotterutils::writePlotterVectorMatlab(a, "plotX.m");
+ plotterutils::writePlotterVecVsVecMatlab(a, b, "plotXvsY.m");
- plotters::writePlotterVectorMatPlotlib(a, "plotX.py");
- plotters::writePlotterVecVsVecMatPlotlib(a, b, "plotXvsY.py");
+ plotterutils::writePlotterVectorMatPlotlib(a, "plotX.py");
+ plotterutils::writePlotterVecVsVecMatPlotlib(a, b, "plotXvsY.py");
getchar();
}