Commit 9ee7af8f authored by Sreekanth Arikatla's avatar Sreekanth Arikatla
Browse files

BUG: Do not set the object controller offsets from the objects

parent 57fb5e54
Pipeline #62488 passed with stage
......@@ -127,7 +127,6 @@ InteractionPair::computeCollisionData()
LOG(WARNING) << "InteractionPair::computeCollisionData error: interaction not valid.";
return;
}
m_colDetect->computeCollisionData();
}
......
......@@ -30,14 +30,6 @@
namespace imstk
{
void
LaparoscopicToolController::initOffsets()
{
m_trackingController->setTranslationOffset(m_shaft->getMasterGeometry()->getTranslation());
m_trackingController->setRotationOffset(Quatd(m_shaft->getMasterGeometry()->getRotation()));
m_trackingController->getDeviceClient()->setButtonsEnabled(true);
}
void
LaparoscopicToolController::updateControlledObjects()
......
......@@ -53,7 +53,10 @@ public:
m_trackingController(trackingController),
m_shaft(shaft),
m_upperJaw(upperJaw),
m_lowerJaw(lowerJaw) {}
m_lowerJaw(lowerJaw)
{
m_trackingController->getDeviceClient()->setButtonsEnabled(true);
}
LaparoscopicToolController() = delete; //not allowed for now
......@@ -62,11 +65,6 @@ public:
///
~LaparoscopicToolController() = default;
///
/// \brief Initialize offset based on object geometry
///
void initOffsets() override;
///
/// \brief Update controlled laparoscopic tool using latest tracking information
///
......
......@@ -30,12 +30,6 @@
namespace imstk
{
void
SceneObjectController::initOffsets()
{
m_trackingController->setTranslationOffset(m_sceneObject->getMasterGeometry()->getTranslation());
m_trackingController->setRotationOffset(Quatd(m_sceneObject->getMasterGeometry()->getRotation()));
}
void
SceneObjectController::updateControlledObjects()
......
......@@ -52,11 +52,6 @@ public:
///
~SceneObjectController() = default;
///
/// \brief Initialize offset based on object geometry
///
void initOffsets() override;
///
/// \brief Update controlled scene object using latest tracking information
///
......
......@@ -38,11 +38,6 @@ public:
SceneObjectControllerBase() = default;
~SceneObjectControllerBase() = default;
///
/// \brief Initialize offset based on object geometry
///
virtual void initOffsets() = 0;
///
/// \brief Update controlled scene objects using latest tracking information
///
......
......@@ -48,12 +48,6 @@ SceneManager::initModule()
this->startModuleInNewThread(camController);
}
// Update objects controlled by the device controllers
for (auto controller : m_scene->getSceneObjectControllers())
{
controller->initOffsets();
}
// Init virtual coupling objects offsets
for (auto obj : m_scene->getSceneObjects())
{
......
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