Merge branch 'addDummyClient' into 'master'

Add dummy client

See merge request iMSTK/iMSTK!253

Examples/ObjectControllerDummyClient/CMakeLists.txt

+###########################################################################
+#
+# Copyright (c) Kitware, Inc.
+#
+#  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.
+#
+###########################################################################
+
+project(Example-ObjectControllerDummyClient)
+
+#-----------------------------------------------------------------------------
+# Create executable
+#-----------------------------------------------------------------------------
+add_executable(${PROJECT_NAME} ObjectControllerDummyClient.cpp)
+
+#-----------------------------------------------------------------------------
+# Add shaders
+#-----------------------------------------------------------------------------
+include(imstkCopyAndCompileShaders)
+CopyAndCompileShaders()
+
+#-----------------------------------------------------------------------------
+# Link libraries to executable
+#-----------------------------------------------------------------------------
+target_link_libraries(${PROJECT_NAME} SimulationManager)
+

Examples/ObjectControllerDummyClient/ObjectControllerDummyClient.cpp

+/*=========================================================================
+
+   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 "imstkSimulationManager.h"
+#include "imstkCube.h"
+#include "imstkDummyClient.h"
+#include "imstkSceneObjectController.h"
+
+using namespace imstk;
+
+///
+/// \brief This example demonstrates controlling the object
+/// using external device. NOTE: Requires GeoMagic Touch device
+///
+int main()
+{
+    // SDK and Scene
+    auto sdk = std::make_shared<SimulationManager>();
+    auto scene = sdk->createNewScene("ObjectControllerDummyClient");
+
+    // Device Client
+    auto client = std::make_shared<DummyClient>("DummyClient");
+
+    // Object
+    auto geom = std::make_shared<Cube>();
+    geom->setPosition(0, 1, 0);
+    geom->setWidth(2);
+
+    auto object = std::make_shared<CollidingObject>("VirtualObject");
+    object->setVisualGeometry(geom);
+    object->setCollidingGeometry(geom);
+    scene->addSceneObject(object);
+
+    auto trackCtrl = std::make_shared<DeviceTracker>(client);
+    trackCtrl->setTranslationScaling(0.1);
+    auto controller = std::make_shared<SceneObjectController>(object, trackCtrl);
+    scene->addObjectController(controller);
+
+    // Supply translation to dummy client frame
+    auto translateFunc =
+        [&client](Module* module)
+        {
+            Vec3d p = client->getPosition() + Vec3d(1.0e-4, 0, 0);
+            if (p.x() > 50.)
+            {
+                p = Vec3d(0, 0, 0);
+            }
+            client->setPosition(p);
+        };
+    sdk->getSceneManager(scene)->setPostUpdateCallback(translateFunc);
+
+    // Update Camera position
+    auto cam = scene->getCamera();
+    cam->setPosition(Vec3d(0, 0, 10));
+    cam->setFocalPoint(geom->getPosition());
+
+    // Light
+    auto light = std::make_shared<DirectionalLight>("light");
+    light->setFocalPoint(Vec3d(5, -8, -5));
+    light->setIntensity(1);
+    scene->addLight(light);
+
+    // Run
+    sdk->setActiveScene(scene);
+    sdk->startSimulation(SimulationStatus::RUNNING);
+
+    return 0;
+}

Source/Devices/imstkDummyClient.cpp

+/*=========================================================================
+
+   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 <map>
+
+#include "imstkDummyClient.h"
+
+#include "g3log/g3log.hpp"
+
+namespace imstk
+{
+void
+DummyClient::setButton(const unsigned int buttonId, const bool buttonStatus)
+{
+    auto x = m_buttons.find(buttonId);
+    if (x != m_buttons.end())
+    {
+        x->second = buttonStatus;
+    }
+}
+} // imstk

Source/Devices/imstkDummyClient.h

+/*=========================================================================
+
+   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 imstkDummyClient_h
+#define imstkDummyClient_h
+
+#include "imstkDeviceClient.h"
+
+namespace imstk
+{
+///
+/// \class Dummy client
+/// \brief Allows setting the pose of the device from external caller
+///
+class DummyClient : public DeviceClient
+{
+public:
+
+    ///
+    /// \brief Constructor/Destructor
+    ///
+    DummyClient(std::string name) : DeviceClient(name, "localhost"){}
+    virtual ~DummyClient(){}
+
+protected:
+
+    ///
+    /// \brief Initialize the phantom omni device
+    ///
+    void init(const unsigned int numButtons = 0)
+    {
+        for (unsigned int i = 0; i < numButtons; ++i)
+        {
+            m_buttons[i] = false;
+        }
+    };
+
+    void run() = delete;
+    void cleanUp() = delete;
+
+public:
+    ///
+    /// \brief Set position
+    ///
+    void setPosition(const Vec3d& pos) { m_position = pos; };
+
+    ///
+    /// \brief Set velocity
+    ///
+    void setVelocity(const Vec3d& vel) { m_velocity = vel; };
+
+    ///
+    /// \brief Set orientation
+    ///
+    void setOrientation(const Quatd& orient) { m_orientation = orient; };
+
+    ///
+    /// \brief Set orientation from 4x4 transform
+    ///
+    void setOrientation(double* transform)
+    {
+        m_orientation = (Eigen::Affine3d(Eigen::Matrix4d(transform))).rotation();
+    };
+
+    ///
+    /// \brief Set the button status if it exists
+    ///
+    void setButton(const unsigned int buttonId, const bool buttonStatus);
+};
+}
+
+#endif // ifndef imstkDummyClient_h