From de74bde7fb510ecf4be509adce1802f13c326a80 Mon Sep 17 00:00:00 2001
From: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>
Date: Wed, 18 May 2016 13:30:30 -0400
Subject: [PATCH] ENH: Adds time integrator class
Adds time integrator which only sets rules for finite difference in time.
Adds comments for DeformableObject class
---
Base/Scene/Object/imstkDeformableObject.cpp | 8 +++
Base/Scene/Object/imstkDeformableObject.h | 30 +++++++-
Base/Scene/Object/imstkSceneObject.h | 1 +
Base/Scene/Object/imstkTimeIntegrator.cpp | 66 +++++++++++++++++
Base/Scene/Object/imstkTimeIntegrator.h | 78 +++++++++++++++++++++
5 files changed, 181 insertions(+), 2 deletions(-)
create mode 100644 Base/Scene/Object/imstkTimeIntegrator.cpp
create mode 100644 Base/Scene/Object/imstkTimeIntegrator.h
diff --git a/Base/Scene/Object/imstkDeformableObject.cpp b/Base/Scene/Object/imstkDeformableObject.cpp
index a1c33f055..93d8a51b1 100644
--- a/Base/Scene/Object/imstkDeformableObject.cpp
+++ b/Base/Scene/Object/imstkDeformableObject.cpp
@@ -22,6 +22,7 @@
#include "imstkDeformableObject.h"
namespace imstk {
+
std::shared_ptr<Geometry>
DeformableObject::getPhysicsGeometry() const
{
@@ -33,4 +34,11 @@ DeformableObject::setPhysicsGeometry(std::shared_ptr<Geometry> geometry)
{
m_physicsGeometry = geometry;
}
+
+int
+DeformableObject::getNumOfDOF() const
+{
+ return numDOF;
+}
+
}
diff --git a/Base/Scene/Object/imstkDeformableObject.h b/Base/Scene/Object/imstkDeformableObject.h
index 81ae48da1..bd05cc19c 100644
--- a/Base/Scene/Object/imstkDeformableObject.h
+++ b/Base/Scene/Object/imstkDeformableObject.h
@@ -23,6 +23,7 @@
#define imstkDeformableObject_h
#include <memory>
+#include <string>
#include "imstkCollidingObject.h"
@@ -31,25 +32,50 @@ namespace imstk {
class Geometry;
class GeometryMap;
+///
+/// \class DeformableObject
+///
+/// \brief Base class for scene objects that deform
+///
class DeformableObject : public CollidingObject
{
public:
+ ///
+ /// \brief Constructor
+ ///
DeformableObject(std::string name) : CollidingObject(name)
{
m_type = Type::Deformable;
}
+ ///
+ /// \brief Destructor
+ ///
~DeformableObject() = default;
+ ///
+ /// \brief Returns the geometry used for Physics computations
+ ///
std::shared_ptr<Geometry> getPhysicsGeometry() const;
+
+ ///
+ /// \brief Assigns the geometry used for Physics related computations
+ ///
void setPhysicsGeometry(std::shared_ptr<Geometry> geometry);
+ ///
+ /// \brief Returns the number of degree of freedom
+ ///
+ int getNumOfDOF() const;
+
protected:
- std::shared_ptr<Geometry> m_physicsGeometry; ///> Geometry for collisions
- std::shared_ptr<GeometryMap> m_physicsToCollidingMap; ///> Maps transformations to colliding geometry
+ std::shared_ptr<Geometry> m_physicsGeometry; ///> Geometry used for Physics
+ std::shared_ptr<GeometryMap> m_physicsToCollidingGeomMap; ///> Maps transformations to colliding geometry
+ std::shared_ptr<GeometryMap> m_physicsToVisualGeomMap; ///> Maps transformations to colliding geometry
+ int numDOF; ///> Number of degree of freedom of the body in the discretized model
};
}
diff --git a/Base/Scene/Object/imstkSceneObject.h b/Base/Scene/Object/imstkSceneObject.h
index d510d762e..e1b4bd2cd 100644
--- a/Base/Scene/Object/imstkSceneObject.h
+++ b/Base/Scene/Object/imstkSceneObject.h
@@ -23,6 +23,7 @@
#define imstkSceneObject_h
#include <memory>
+#include <string>
namespace imstk {
diff --git a/Base/Scene/Object/imstkTimeIntegrator.cpp b/Base/Scene/Object/imstkTimeIntegrator.cpp
new file mode 100644
index 000000000..c29d56dad
--- /dev/null
+++ b/Base/Scene/Object/imstkTimeIntegrator.cpp
@@ -0,0 +1,66 @@
+/*=========================================================================
+
+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.
+
+=========================================================================*/
+
+#include "imstkTimeIntegrator.h"
+
+namespace imstk {
+
+TimeIntegrator::TimeIntegrator(const timeIntegratorType type)
+{
+ this->setType(type);
+}
+
+void
+TimeIntegrator::setType(const timeIntegratorType type)
+{
+ this->m_type = type;
+ this->setCoefficients(type);
+}
+
+const Type&
+TimeIntegrator::getType() const
+{
+ return m_type;
+}
+
+void
+TimeIntegrator::setCoefficients(const timeIntegratorType type)
+{
+ switch (type) {
+ case timeIntegratorType::backwardEuler:
+ m_alpha = {1, 0, 0};
+ m_beta = {1, -1, 0};
+ m_gamma = {1, -2, -1};
+ break;
+
+ case timeIntegratorType::forwardEuler:
+ case timeIntegratorType::newmarkBeta:
+ case timeIntegratorType::centralDifference:
+ LOG(WARNING) << "Type of the time integrator not supported!";
+ break;
+
+ default:
+ LOG(WARNING) << "Type of the time integrator not identified!";
+ break;
+ }
+}
+
+}
diff --git a/Base/Scene/Object/imstkTimeIntegrator.h b/Base/Scene/Object/imstkTimeIntegrator.h
new file mode 100644
index 000000000..73ba427d3
--- /dev/null
+++ b/Base/Scene/Object/imstkTimeIntegrator.h
@@ -0,0 +1,78 @@
+/*=========================================================================
+
+ 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 imstkTimeIntegrator_h
+#define imstkTimeIntegrator_h
+
+namespace imstk {
+
+///
+/// \class TimeIntegrator
+///
+/// \brief This class defines the time integrators of various types.
+/// It only sets the rules of how the velocity (or equivalent) and
+/// acceleration (or equivalent) of the present time in terms of
+/// positions (or equivalent) from previous time steps.
+///
+class TimeIntegrator
+{
+ enum class timeIntegratorType
+ {
+ forwardEuler,
+ backwardEuler,
+ newmarkBeta,
+ centralDifference
+ };
+
+public:
+ ///
+ /// \brief Constructor
+ ///
+ TimeIntegrator(const timeIntegratorType type);
+
+ ///
+ /// \brief Destructor
+ ///
+ ~TimeIntegrator() = default;
+
+ ///
+ /// \brief Set/Get type of the time integrator
+ ///
+ void setType(const timeIntegratorType type);
+ const Type& getType() const;
+
+ ///
+ /// \brief Set coefficients for a given time integrator type
+ ///
+ void setCoefficients(const timeIntegratorType type);
+
+protected:
+ timeIntegratorType m_type; ///> Type of the time integrator
+
+ // Coefficients of the time integrator
+ double m_alpha[3];
+ double m_gamma[3];
+ double m_beta[3];
+};
+
+}
+
+#endif // ifndef imstkTimeIntegrator_h
--
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