From f508459fe049cc639c01971c7f5044a5d2f2d1c9 Mon Sep 17 00:00:00 2001
From: Alexis Girault <alexis.girault@kitware.com>
Date: Tue, 17 May 2016 19:07:03 -0400
Subject: [PATCH] ENH: Update example with object controller
Reset sceneManager loop delay to 0 (fast loop)
and remove LOG info to avoid too much printing.
---
Base/SimulationManager/imstkSceneManager.cpp | 11 +---
Base/SimulationManager/imstkSceneManager.h | 2 +-
Examples/Sandbox/main.cpp | 61 +++++++++++++++++---
3 files changed, 56 insertions(+), 18 deletions(-)
diff --git a/Base/SimulationManager/imstkSceneManager.cpp b/Base/SimulationManager/imstkSceneManager.cpp
index e811101d..8fcf18e0 100644
--- a/Base/SimulationManager/imstkSceneManager.cpp
+++ b/Base/SimulationManager/imstkSceneManager.cpp
@@ -37,9 +37,7 @@ SceneManager::getScene()
void
SceneManager::initModule()
{
- LOG(DEBUG) << m_name << " manager : init";
-
-
+ // Start Camera Controller (asynchronous)
if (auto camController = m_scene->getCamera()->getController())
{
this->startModuleInNewThread(camController);
@@ -49,8 +47,7 @@ SceneManager::initModule()
void
SceneManager::runModule()
{
- LOG(DEBUG) << m_name << " manager : running";
-
+ // Update virtualCoupling objects based on devices
for (auto obj : m_scene->getSceneObjects())
{
if (auto virtualCoupling = std::dynamic_pointer_cast<VirtualCouplingObject>(obj))
@@ -60,12 +57,10 @@ SceneManager::runModule()
}
}
-
void
SceneManager::cleanUpModule()
{
- LOG(DEBUG) << m_name << " manager : cleanUp";
-
+ // End Camera Controller
if (auto camController = m_scene->getCamera()->getController())
{
camController->end();
diff --git a/Base/SimulationManager/imstkSceneManager.h b/Base/SimulationManager/imstkSceneManager.h
index dc37ecf0..63986187 100644
--- a/Base/SimulationManager/imstkSceneManager.h
+++ b/Base/SimulationManager/imstkSceneManager.h
@@ -36,7 +36,7 @@ class SceneManager : public Module
public:
SceneManager(std::shared_ptr<Scene> scene) :
- Module(scene->getName(), 1000),
+ Module(scene->getName()),
m_scene(scene)
{}
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index b3de2b25..750d57c3 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -6,14 +6,18 @@
#include "imstkMath.h"
#include "imstkSimulationManager.h"
+
+// Objects
#include "imstkSceneObject.h"
-#include "imstkPlane.h"
-#include "imstkSphere.h"
-#include "imstkCube.h"
+#include "imstkCollidingObject.h"
+#include "imstkVirtualCouplingObject.h"
#include "imstkLight.h"
#include "imstkCamera.h"
// Geometry
+#include "imstkPlane.h"
+#include "imstkSphere.h"
+#include "imstkCube.h"
#include "imstkTetrahedralMesh.h"
#include "imstkSurfaceMesh.h"
#include "imstkMeshReader.h"
@@ -30,7 +34,8 @@
#include "g3log/g3log.hpp"
-void testDevices();
+void testObjectController();
+void testCameraController();
void testReadMesh();
void testViewer();
void testAnalyticalGeometry();
@@ -47,7 +52,8 @@ int main()
<< "Starting Sandbox\n"
<< "****************\n";
- testDevices();
+ testObjectController();
+ //testCameraController();
//testViewer();
//testReadMesh();
//testAnalyticalGeometry();
@@ -61,7 +67,7 @@ int main()
return 0;
}
-void testDevices()
+void testObjectController()
{
// SDK and Scene
auto sdk = std::make_shared<imstk::SimulationManager>();
@@ -78,17 +84,54 @@ void testDevices()
client->setLoopDelay(1);
sdk->addDeviceClient(client);
+ // Plane
+ auto planeGeom = std::make_shared<imstk::Plane>();
+ planeGeom->scale(5);
+ auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
+ planeObj->setVisualGeometry(planeGeom);
+ scene->addSceneObject(planeObj);
+
// Sphere
auto sphereGeom = std::make_shared<imstk::Sphere>();
- sphereGeom->scale(0.1);
- auto sphereObj = std::make_shared<imstk::VisualObject>("VisualSphere");
+ sphereGeom->setPosition(imstk::UP_VECTOR); //does not matter, need to set offset on object if controlled
+ sphereGeom->scale(0.2);
+ auto sphereObj = std::make_shared<imstk::VirtualCouplingObject>("VirtualSphere", client, 20);
sphereObj->setVisualGeometry(sphereGeom);
+ sphereObj->setCollidingGeometry(sphereGeom);
+ sphereObj->setTranslationOffset(imstk::UP_VECTOR); // this will work though
scene->addSceneObject(sphereObj);
+ // Update Camera position
+ auto cam = scene->getCamera();
+ cam->setPosition(imstk::Vec3d(0,3,10));
+ cam->setFocalPoint(sphereGeom->getPosition());
+
+ // Run
+ sdk->setCurrentScene("SceneTestDevice");
+ sdk->startSimulation(true);
+}
+
+void testCameraController()
+{
+ // SDK and Scene
+ auto sdk = std::make_shared<imstk::SimulationManager>();
+ auto scene = sdk->createNewScene("SceneTestDevice");
+
+ // Device server
+ auto server = std::make_shared<imstk::VRPNDeviceServer>("127.0.0.1");
+ server->addDevice("device0", imstk::DeviceType::NOVINT_FALCON);
+ server->setLoopDelay(1);
+ sdk->addDeviceServer(server);
+
+ // Device Client
+ auto client = std::make_shared<imstk::VRPNDeviceClient>("device0", "localhost"); // localhost = 127.0.0.1
+ client->setLoopDelay(1);
+ sdk->addDeviceClient(client);
+
// Mesh
auto mesh = imstk::MeshReader::read("/home/virtualfls/Projects/IMSTK/resources/asianDragon/asianDragon.obj");
auto meshObject = std::make_shared<imstk::VisualObject>("meshObject");
- meshObject->setVisualGeometry(mesh); // change to any mesh created above
+ meshObject->setVisualGeometry(mesh);
scene->addSceneObject(meshObject);
// Update Camera position
--
GitLab